From 06a1c6004cef3290089a4b629006088a1a5e87a0 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 22 Jun 2024 11:59:07 +0800
Subject: [PATCH] 增加：坐标引导俯仰角度修正
---
ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java | 53 +++++++++++++++--
ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java | 71 +++++++++++++----------
ard-work/src/main/java/com/ruoyi/device/camera/service/ICameraSdkService.java | 7 +-
ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java | 29 ++++++---
4 files changed, 106 insertions(+), 54 deletions(-)
diff --git a/ard-work/src/main/java/com/ruoyi/device/camera/service/ICameraSdkService.java b/ard-work/src/main/java/com/ruoyi/device/camera/service/ICameraSdkService.java
index 18f0cde..c4aad00 100644
--- a/ard-work/src/main/java/com/ruoyi/device/camera/service/ICameraSdkService.java
+++ b/ard-work/src/main/java/com/ruoyi/device/camera/service/ICameraSdkService.java
@@ -3,9 +3,6 @@
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.device.camera.domain.ArdCameras;
import com.ruoyi.device.camera.domain.CameraCmd;
-import org.springframework.scheduling.annotation.Async;
-
-import javax.servlet.http.HttpServletResponse;
import java.util.Map;
public interface ICameraSdkService {
@@ -108,6 +105,10 @@
//本地录像开始
AjaxResult localRecordStart(CameraCmd cmd);
+
//本地录像停止
AjaxResult localRecordStop(CameraCmd cmd);
+
+ //修正俯仰值
+ Double correctPitch(CameraCmd cmd);
}
diff --git a/ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java b/ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java
index 41ce896..eb62b1c 100644
--- a/ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java
+++ b/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);
}
diff --git a/ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java b/ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java
index e703e1c..3b57ed3 100644
--- a/ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java
+++ b/ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java
@@ -16,6 +16,7 @@
import com.ruoyi.device.camera.domain.ArdCameras;
import com.ruoyi.device.camera.domain.CameraCmd;
import com.ruoyi.device.camera.service.IArdCamerasService;
+import com.ruoyi.device.camera.service.ICameraSdkService;
import com.ruoyi.device.channel.domain.ArdChannel;
import com.ruoyi.device.channel.service.IArdChannelService;
import com.ruoyi.media.domain.Vtdu;
@@ -74,6 +75,9 @@
private IArdChannelService ardChannelService;
@Resource
private IVtduService vtduService;
+
+ @Resource
+ ICameraSdkService cameraSdkService;
@Value("${minio.endpoint}")
private String minioEndPoint;
@Resource
@@ -407,9 +411,9 @@
float t = (float) dh_ptz_location_info.nPTZTilt / 10 * -1;
String nPTZTilt = df.format(t < 0 ? t + 360 : t);
String nPTZZoom = df.format((float) dh_ptz_location_info.nPTZZoom);
- ptzMap.put("p", nPTZPan);
- ptzMap.put("t", nPTZTilt);
- ptzMap.put("z", nPTZZoom);
+ ptzMap.put("p" , nPTZPan);
+ ptzMap.put("t" , nPTZTilt);
+ ptzMap.put("z" , nPTZZoom);
return AjaxResult.success(ptzMap);
}
@@ -587,7 +591,7 @@
// return false;
//}
log.debug("本地录像开始");
- return AjaxResult.success("本地录像开始", lRealHandle);
+ return AjaxResult.success("本地录像开始" , lRealHandle);
} catch (Exception ex) {
log.error("本地录像开始异常" + ex.getMessage());
return AjaxResult.error("本地录像开始异常" + ex.getMessage());
@@ -781,8 +785,11 @@
double[] cameraPositon = new double[]{cameras.getLongitude(), cameras.getLatitude(), cameras.getAltitude()};
double[] targetPositions = cmd.getTargetPosition();
double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPositon, targetPositions, 20, 150);
+ //修正俯仰
+ double correctPitch = cameraSdkService.correctPitch(cmd);
+ double newt = cameraPTZ[1] + correctPitch;
int p = (int) (cameraPTZ[0] * 10);
- int t = (int) (cameraPTZ[1] * 10);
+ int t = (int) (newt * 10);
int z = (int) (cameraPTZ[2]);
boolean bool = netsdk.CLIENT_DHPTZControlEx(loginId, chanNo - 1, NetSDKLib.NET_EXTPTZ_ControlType.NET_EXTPTZ_EXACTGOTO, p, t, z, 0);
if (!bool) {
@@ -1103,10 +1110,10 @@
int nHeight = cfg_encode_info.stuMainStream[0].stuVideoFormat.nHeight;
String resolution = nWidth + "*" + nHeight;
float nFrameRate = cfg_encode_info.stuMainStream[0].stuVideoFormat.nFrameRate;
- map.put("resolution", resolution);//分辨率
- map.put("videoBitrate", String.valueOf(nBitRate));//比特率
- map.put("videoEncType", videoEncType);//编码
- map.put("nFrameRate", String.valueOf(nFrameRate));//帧率
+ map.put("resolution" , resolution);//分辨率
+ map.put("videoBitrate" , String.valueOf(nBitRate));//比特率
+ map.put("videoEncType" , videoEncType);//编码
+ map.put("nFrameRate" , String.valueOf(nFrameRate));//帧率
}
} catch (Exception ex) {
log.error("取码流压缩参数异常:" + ex.getMessage());
@@ -1133,8 +1140,8 @@
float nAngelH = (float) dh_out_ptz_view_range_status.nAngelH / 10;
float nAngelV = (float) dh_out_ptz_view_range_status.nAngelV / 10;
Map<String, Object> map = getPtz(cmd);//获取ptz
- map.put("fHorFieldAngle", nAngelH);// 水平视场角
- map.put("fVerFieldAngle", nAngelV);// 垂直视场角
+ map.put("fHorFieldAngle" , nAngelH);// 水平视场角
+ map.put("fVerFieldAngle" , nAngelV);// 垂直视场角
return AjaxResult.success(map);
} catch (Exception ex) {
log.error("获取云台可视域异常" + ex.getMessage());
diff --git a/ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java b/ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java
index ef02d00..ae93c60 100644
--- a/ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java
+++ b/ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java
@@ -15,8 +15,11 @@
import com.ruoyi.device.camera.factory.CameraSDK;
import com.ruoyi.device.camera.domain.ArdCameras;
import com.ruoyi.device.camera.domain.CameraCmd;
+import com.ruoyi.device.camera.service.ICameraSdkService;
import com.ruoyi.device.channel.domain.ArdChannel;
import com.ruoyi.device.channel.service.IArdChannelService;
+import com.ruoyi.device.terrain.domain.ArdTerrainMark;
+import com.ruoyi.device.terrain.service.IArdTerrainMarkService;
import com.ruoyi.media.domain.Vtdu;
import com.ruoyi.media.service.IVtduService;
import com.ruoyi.utils.gis.GisUtil;
@@ -43,6 +46,7 @@
import java.text.DecimalFormat;
import java.util.*;
import java.util.concurrent.PriorityBlockingQueue;
+import java.util.stream.Collectors;
import static com.ruoyi.utils.sdk.hiksdk.lib.HCNetSDK.*;
import static com.ruoyi.utils.sdk.hiksdk.lib.HCNetSDK.NET_DVR_GET_GISINFO;
@@ -64,7 +68,8 @@
private IVtduService vtduService;
@Resource
private QueueHandler queueHandler;
-
+ @Resource
+ ICameraSdkService cameraSdkService;
public Object _lock = new Object();
public static HCNetSDK hCNetSDK = HCNetSDK.hCNetSDK;
private static HCNetSDK.FExceptionCallBack fExceptionCallBack;//异常回调
@@ -89,7 +94,7 @@
String WIN_PATH = System.getProperty("user.dir") + File.separator + "ardLog" + File.separator + "logs" + File.separator;
hCNetSDK.NET_DVR_SetLogToFile(3, WIN_PATH, true);
} else {
- hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog", true);
+ hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog" , true);
}
String m_sDeviceIP = camera.getIp();
String m_sUsername = camera.getUsername();
@@ -168,7 +173,7 @@
createGuideQueue(camera);
return AjaxResult.success("设备登录成功");
} catch (Exception ex) {
- log.error("设备登录异常", ex);
+ log.error("设备登录异常" , ex);
return AjaxResult.error("设备登录异常" + ex.getMessage());
}
}
@@ -195,7 +200,7 @@
String WIN_PATH = System.getProperty("user.dir") + File.separator + "ardLog" + File.separator + "logs" + File.separator;
hCNetSDK.NET_DVR_SetLogToFile(3, WIN_PATH, true);
} else {
- hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog", true);
+ hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog" , true);
}
String m_sDeviceIP = camera.getIp();
String m_sUsername = camera.getUsername();
@@ -274,7 +279,7 @@
createGuideQueue(camera);
return AjaxResult.success("设备登录成功");
} catch (Exception ex) {
- log.error("注册设备异常", ex);
+ log.error("注册设备异常" , ex);
return AjaxResult.error("注册设备异常" + ex.getMessage());
}
}
@@ -868,10 +873,10 @@
nFrameRate = "未知";
break;
}
- map.put("resolution", resolution);//分辨率
- map.put("videoBitrate", videoBitrate);//比特率
- map.put("videoEncType", videoEncType);//编码
- map.put("nFrameRate", nFrameRate);//帧率
+ map.put("resolution" , resolution);//分辨率
+ map.put("videoBitrate" , videoBitrate);//比特率
+ map.put("videoEncType" , videoEncType);//编码
+ map.put("nFrameRate" , nFrameRate);//帧率
} else {
int code = hCNetSDK.NET_DVR_GetLastError();
@@ -924,9 +929,9 @@
double z = d.setScale(1, BigDecimal.ROUND_HALF_UP).doubleValue();
//log.debug("T垂直参数为: " + p + "P水平参数为: " + t + "Z变倍参数为: " + z);
Map<String, Object> ptzMap = new HashMap<>();
- ptzMap.put("p", p);
- ptzMap.put("t", t);
- ptzMap.put("z", z);
+ ptzMap.put("p" , p);
+ ptzMap.put("t" , t);
+ ptzMap.put("z" , z);
return AjaxResult.success(ptzMap);
}
@@ -973,9 +978,9 @@
float fTilt = lpPTZAbsoluteEX_cfg.struPTZCtrl.fTilt;
float t = fTilt < 0 ? fTilt + 360 : fTilt;
float z = lpPTZAbsoluteEX_cfg.struPTZCtrl.fZoom;
- ptzMap.put("p", p);
- ptzMap.put("t", t);
- ptzMap.put("z", z);
+ ptzMap.put("p" , p);
+ ptzMap.put("t" , t);
+ ptzMap.put("z" , z);
return AjaxResult.success(ptzMap);
} catch (Exception ex) {
log.error("获取高精度PTZ绝对位置异常:" + ex.getMessage());
@@ -1080,7 +1085,7 @@
return AjaxResult.success("设置高精度PTZ参数成功");
} catch (Exception ex) {
- log.error("设置高精度PTZ参数异常", ex);
+ log.error("设置高精度PTZ参数异常" , ex);
return AjaxResult.error("设置高精度PTZ参数异常:" + ex);
}
}
@@ -1102,7 +1107,10 @@
double[] targetPositions = cmd.getTargetPosition();
double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPositon, targetPositions, 20, 150);
String p = String.valueOf((int) (cameraPTZ[0] * 10));
- String t = String.valueOf((int) (cameraPTZ[1] * 10));
+ //修正俯仰
+ double correctPitch = cameraSdkService.correctPitch(cmd);
+ double newt = cameraPTZ[1] + correctPitch;
+ String t = String.valueOf((int) (newt * 10));
String z = String.valueOf((int) (cameraPTZ[2] * 10));
m_ptzPosCurrent.wPanPos = (short) (Integer.parseInt(p, 16));
m_ptzPosCurrent.wTiltPos = (short) (Integer.parseInt(t, 16));
@@ -1224,12 +1232,12 @@
String wZoomPosMax = df.format((float) Integer.parseInt(Integer.toHexString(m_ptzPosCurrent.wZoomPosMax)) / 10);
String wZoomPosMin = df.format((float) Integer.parseInt(Integer.toHexString(m_ptzPosCurrent.wZoomPosMin)) / 10);
Map<String, Object> ptzScopeMap = new HashMap<>();
- ptzScopeMap.put("pMax", wPanPosMax);
- ptzScopeMap.put("pMin", wPanPosMin);
- ptzScopeMap.put("tMax", wTiltPosMax);
- ptzScopeMap.put("tMin", wTiltPosMin);
- ptzScopeMap.put("zMax", wZoomPosMax);
- ptzScopeMap.put("zMin", wZoomPosMin);
+ ptzScopeMap.put("pMax" , wPanPosMax);
+ ptzScopeMap.put("pMin" , wPanPosMin);
+ ptzScopeMap.put("tMax" , wTiltPosMax);
+ ptzScopeMap.put("tMin" , wTiltPosMin);
+ ptzScopeMap.put("zMax" , wZoomPosMax);
+ ptzScopeMap.put("zMin" , wZoomPosMin);
return AjaxResult.success(ptzScopeMap);
}
}
@@ -1325,7 +1333,7 @@
boolean bool = hCNetSDK.NET_DVR_SetDVRConfig(userId, NET_DVR_SET_CCDPARAMCFG, chanNo, point, struDayNigh.size());
if (!bool) {
int code = hCNetSDK.NET_DVR_GetLastError();
- log.error("切换红外失败 ErrorCode:{},ErrorInfo:{}", code, SdkErrorCodeEnum.getDescByCode(code));
+ log.error("切换红外失败 ErrorCode:{},ErrorInfo:{}" , code, SdkErrorCodeEnum.getDescByCode(code));
return AjaxResult.warn("切换红外失败:" + SdkErrorCodeEnum.getDescByCode(code) + "(" + code + ")");
}
log.debug("切换红外成功");
@@ -1860,8 +1868,7 @@
Pointer pStrPicCfg = strPicCfg.getPointer();
NativeLong lChannel = new NativeLong(chanNo);
IntByReference pInt = new IntByReference(0);
- boolean b_GetPicCfg = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId(), HCNetSDK.NET_DVR_GET_PICCFG_V40, lChannel.intValue(),
- pStrPicCfg, strPicCfg.size(), pInt);
+ boolean b_GetPicCfg = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId(), HCNetSDK.NET_DVR_GET_PICCFG_V40, lChannel.intValue(), pStrPicCfg, strPicCfg.size(), pInt);
if (!b_GetPicCfg) {
// log.error("获取图像参数失败，错误码：" + hCNetSDK.NET_DVR_GetLastError());
}
@@ -1926,11 +1933,11 @@
}
struGisInfo.read();
Map<String, Object> map = new HashMap<>();
- map.put("p", struGisInfo.struPtzPos.fPanPos);
- map.put("t", struGisInfo.struPtzPos.fTiltPos < 0 ? struGisInfo.struPtzPos.fTiltPos + 360 : struGisInfo.struPtzPos.fTiltPos);
- map.put("z", struGisInfo.struPtzPos.fZoomPos);
- map.put("fHorFieldAngle", struGisInfo.fHorizontalValue);// 水平视场角
- map.put("fVerFieldAngle", struGisInfo.fVerticalValue);// 垂直视场角
+ map.put("p" , struGisInfo.struPtzPos.fPanPos);
+ map.put("t" , struGisInfo.struPtzPos.fTiltPos < 0 ? struGisInfo.struPtzPos.fTiltPos + 360 : struGisInfo.struPtzPos.fTiltPos);
+ map.put("z" , struGisInfo.struPtzPos.fZoomPos);
+ map.put("fHorFieldAngle" , struGisInfo.fHorizontalValue);// 水平视场角
+ map.put("fVerFieldAngle" , struGisInfo.fVerticalValue);// 垂直视场角
return AjaxResult.success(map);
}
@@ -1990,7 +1997,7 @@
return AjaxResult.warn("本地录像取流失败:" + SdkErrorCodeEnum.getDescByCode(code) + "(" + code + ")");
}
log.debug("本地录像开始");
- return AjaxResult.success("录像开始", lRealHandle);
+ return AjaxResult.success("录像开始" , lRealHandle);
} catch (Exception ex) {
log.error("本地录像开始异常" + ex.getMessage());
return AjaxResult.error("本地录像开始异常" + ex.getMessage());
--
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