增加：坐标引导俯仰角度修正

liusuyi

2024-06-22 06a1c6004cef3290089a4b629006088a1a5e87a0

 ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java

@@ -18,6 +18,8 @@
import com.ruoyi.device.camera.factory.CameraSDKFactory;

import com.ruoyi.device.noguidezone.domain.ArdCameraNoGuideZone;

import com.ruoyi.device.noguidezone.service.IArdCameraNoGuideZoneService;

import com.ruoyi.device.terrain.domain.ArdTerrainMark;

import com.ruoyi.device.terrain.service.IArdTerrainMarkService;

import com.ruoyi.utils.gis.GisUtil;

import com.ruoyi.utils.gis.Point;

import com.ruoyi.utils.sdk.common.GlobalVariable;

@@ -26,8 +28,10 @@
import org.springframework.boot.ApplicationArguments;

import org.springframework.boot.ApplicationRunner;

import org.springframework.stereotype.Service;



import javax.annotation.Resource;

import java.util.*;

import java.util.stream.Collectors;





/**

@@ -49,6 +53,8 @@
    private IArdAlarmpointsWellService ardAlarmpointsWellService;

    @Resource

    private IArdCameraNoGuideZoneService ardCameraNoGuideZoneService;

    @Resource

    private IArdTerrainMarkService ardTerrainMarkService;



    /**

     * 启动线程方法，用于执行初始化登录相机的逻辑

@@ -505,6 +511,37 @@
        }

    }



    /**

     * @return

     * @Author 刘苏义

     * @Description 修正俯仰值（根据相机ID获取500米范围内的地形参数集合，计算平均值加上T值）

     * @Date 2024/6/22 11:16

     * @Param

     */

    @Override

    public Double correctPitch(CameraCmd cmd) {

        Double pitchAngle = 0.0;

        try {

            double[] targetPositions = cmd.getTargetPosition();

            ArdTerrainMark ardTerrainMark = new ArdTerrainMark();

            ardTerrainMark.setCameraId(cmd.getCameraId());

            List<ArdTerrainMark> ardTerrainMarks = ardTerrainMarkService.selectArdTerrainMarkList(ardTerrainMark);

            //过滤500米范围内的集合

            ardTerrainMarks = ardTerrainMarks.stream().filter(n -> GisUtil.getDistance(targetPositions, new double[]{n.getLongitude(), n.getLatitude(), n.getAltitude()}) <= 500).collect(Collectors.toList());

            //计算T平均值

            OptionalDouble averageT = ardTerrainMarks.stream().mapToDouble(ArdTerrainMark::getT).average();

            // 输出

            if (averageT.isPresent()) {

                pitchAngle = averageT.getAsDouble();

                log.debug("修正俯仰值：" + pitchAngle);

            }

        } catch (Exception ex) {

            log.error("修正俯仰值异常：" + ex.getMessage());



        }

        return pitchAngle;

    }



    //引导指向井

    @Override

    public AjaxResult guideTargetWell(CameraCmd cmd) {

@@ -549,17 +586,17 @@
                    case 1:

                        if (ardWellGuideCamera.getP1() != null) {

                            ptzMap = new HashMap<>();

                            ptzMap.put("p", ardWellGuideCamera.getP1());

                            ptzMap.put("t", ardWellGuideCamera.getT1());

                            ptzMap.put("z", ardWellGuideCamera.getZ1());

                            ptzMap.put("p" , ardWellGuideCamera.getP1());

                            ptzMap.put("t" , ardWellGuideCamera.getT1());

                            ptzMap.put("z" , ardWellGuideCamera.getZ1());

                        }

                        break;

                    case 2:

                        if (ardWellGuideCamera.getP2() != null) {

                            ptzMap = new HashMap<>();

                            ptzMap.put("p", ardWellGuideCamera.getP2());

                            ptzMap.put("t", ardWellGuideCamera.getT2());

                            ptzMap.put("z", ardWellGuideCamera.getZ2());

                            ptzMap.put("p" , ardWellGuideCamera.getP2());

                            ptzMap.put("t" , ardWellGuideCamera.getT2());

                            ptzMap.put("z" , ardWellGuideCamera.getZ2());

                        }

                        break;



@@ -587,9 +624,9 @@
        }

        //按井坐标开始引导

        if (!guideTargetPosition(cmd).get("code").equals(200)) {

            return AjaxResult.warn("井坐标引导失败", "cameraId:" + cameraId);

            return AjaxResult.warn("井坐标引导失败" , "cameraId:" + cameraId);

        }

        return AjaxResult.success("井坐标引导成功", "cameraId:" + cameraId);

        return AjaxResult.success("井坐标引导成功" , "cameraId:" + cameraId);



    }