1. 移除计算 3*3 矩阵的逆的函数
2. 优化球机的登陆接口 3. 新增球机的登出接口
This commit is contained in:
kunmeng
226
HikBallCamera.go
226
HikBallCamera.go
@@ -1,155 +1,153 @@
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package HikNetSDK
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import (
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"fmt"
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"sync"
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"unsafe"
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"errors"
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"fmt"
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"sync"
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"unsafe"
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)
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type HIKBallCamera struct {
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core unsafe.Pointer
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State bool
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BallCameraCfg BallCamera
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mux sync.RWMutex
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core unsafe.Pointer
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State bool
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BallCameraCfg BallCamera
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mux sync.RWMutex
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}
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func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
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return &HIKBallCamera{
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core: newHIKBallCamera(),
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BallCameraCfg: BallCameraCfg,
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State: false,
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mux: sync.RWMutex{},
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}
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return &HIKBallCamera{
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core: newHIKBallCamera(),
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BallCameraCfg: BallCameraCfg,
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State: false,
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mux: sync.RWMutex{},
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}
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}
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func (hikBC *HIKBallCamera) Login() bool {
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hikBC.mux.Lock()
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hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type)
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hikBC.mux.Unlock()
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return hikBC.State
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func (hikBC *HIKBallCamera) Login() (bool, uint, error) {
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var ErrorCode uint
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ErrorInfo := make([]byte, 128)
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ErrorInfoPtr := &ErrorInfo[0]
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hikBC.mux.Lock()
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hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type, unsafe.Pointer(&ErrorCode), ErrorInfoPtr)
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outState := hikBC.State
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hikBC.mux.Unlock()
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return outState, ErrorCode, errors.New(goString(ErrorInfoPtr))
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}
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func (hikBC *HIKBallCamera) Logout() (bool, uint, error) {
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var ErrorCode uint
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ErrorInfo := make([]byte, 128)
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ErrorInfoPtr := &ErrorInfo[0]
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hikBC.mux.Lock()
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hikBC.State = ballCameraLogout(hikBC.core, unsafe.Pointer(&ErrorCode), ErrorInfoPtr)
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outState := hikBC.State
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hikBC.mux.Unlock()
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return outState, ErrorCode, errors.New(goString(ErrorInfoPtr))
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}
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// goString 将 `char*` 转换为 Go 字符串
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func goString(cstr *byte) string {
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if cstr == nil {
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return ""
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}
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// 找到 C 字符串的长度（以 null 结尾）
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data := unsafe.Slice(cstr, 128) // 假设最大长度 128，实际可根据情况调整
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for i, b := range data {
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if b == 0 { // 遇到 null 终止符
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return string(data[:i])
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}
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}
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return string(data) // 如果没有 null 终止符，返回整个 slice
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}
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func (hikBC *HIKBallCamera) opt(action func() bool) bool {
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hikBC.mux.RLock()
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if hikBC.State {
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hikBC.mux.RUnlock()
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hikBC.mux.Lock()
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hikBC.State = action()
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hikBC.mux.Unlock()
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} else {
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hikBC.mux.RUnlock()
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}
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return hikBC.State
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hikBC.mux.RLock()
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if hikBC.State {
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hikBC.mux.RUnlock()
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hikBC.mux.Lock()
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hikBC.State = action()
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hikBC.mux.Unlock()
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} else {
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hikBC.mux.RUnlock()
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}
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return hikBC.State
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}
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func (hikBC *HIKBallCamera) PTZGet(P, T, Z *float32) bool {
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return hikBC.opt(func() bool {
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return ptzGet(hikBC.core, unsafe.Pointer(P), unsafe.Pointer(T), unsafe.Pointer(Z))
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})
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return hikBC.opt(func() bool {
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return ptzGet(hikBC.core, unsafe.Pointer(P), unsafe.Pointer(T), unsafe.Pointer(Z))
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})
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}
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func (hikBC *HIKBallCamera) PtzTo(Action int, P, T, Z float32) bool {
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return hikBC.opt(func() bool {
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return ptzTo(hikBC.core, Action, P, T, Z)
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})
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return hikBC.opt(func() bool {
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return ptzTo(hikBC.core, Action, P, T, Z)
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})
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}
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func (hikBC *HIKBallCamera) StartBus(Direction, Speed int) bool {
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return hikBC.opt(func() bool {
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return startBus(hikBC.core, Direction, Speed)
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})
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return hikBC.opt(func() bool {
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return startBus(hikBC.core, Direction, Speed)
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})
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}
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func (hikBC *HIKBallCamera) StopBus(Direction int) bool {
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return hikBC.opt(func() bool {
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return stopBus(hikBC.core, Direction)
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})
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return hikBC.opt(func() bool {
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return stopBus(hikBC.core, Direction)
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})
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}
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func (hikBC *HIKBallCamera) OneClickToSeeInFullView(point Point) bool {
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TransPoint := hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.Matrix, point)
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return hikBC.PtzTo(5,
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float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, TransPoint.X, hikBC.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
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float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, TransPoint.Y, hikBC.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
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0.0,
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)
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TransPoint := hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.Matrix, point)
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return hikBC.PtzTo(5,
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float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, TransPoint.X, hikBC.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
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float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, TransPoint.Y, hikBC.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
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0.0,
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)
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}
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func (hikBC *HIKBallCamera) PTZ2FullView() (Point, error) {
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var ptz PTZ
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if !hikBC.PTZGet(&ptz.P, &ptz.T, &ptz.Z) {
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return Point{}, fmt.Errorf("PTZ Get Error")
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}
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return hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.InvMatrix, Point{
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X: hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, float64(ptz.P), hikBC.BallCameraCfg.Matrix.PPositiveDirection, ""),
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Y: hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, float64(ptz.T), hikBC.BallCameraCfg.Matrix.TPositiveDirection, "")}), nil
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var ptz PTZ
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if !hikBC.PTZGet(&ptz.P, &ptz.T, &ptz.Z) {
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return Point{}, fmt.Errorf("PTZ Get Error")
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}
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return hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.InvMatrix, Point{
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X: hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, float64(ptz.P), hikBC.BallCameraCfg.Matrix.PPositiveDirection, ""),
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Y: hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, float64(ptz.T), hikBC.BallCameraCfg.Matrix.TPositiveDirection, "")}), nil
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}
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func (hikBC *HIKBallCamera) WarpingPtByHomography(matrix []float64, p Point) Point {
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var x, y, z float64
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x = matrix[0]*p.X + matrix[1]*p.Y + 1.*matrix[2]
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y = matrix[3]*p.X + matrix[4]*p.Y + 1.*matrix[5]
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z = matrix[6]*p.X + matrix[7]*p.Y + 1.*matrix[8]
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var x, y, z float64
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x = matrix[0]*p.X + matrix[1]*p.Y + 1.*matrix[2]
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y = matrix[3]*p.X + matrix[4]*p.Y + 1.*matrix[5]
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z = matrix[6]*p.X + matrix[7]*p.Y + 1.*matrix[8]
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x /= z
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y /= z
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return Point{X: x, Y: y}
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}
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func (hikBC *HIKBallCamera) Invert3x3() bool {
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a := hikBC.BallCameraCfg.Matrix.Matrix[0]
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b := hikBC.BallCameraCfg.Matrix.Matrix[1]
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c := hikBC.BallCameraCfg.Matrix.Matrix[2]
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d := hikBC.BallCameraCfg.Matrix.Matrix[3]
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e := hikBC.BallCameraCfg.Matrix.Matrix[4]
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f := hikBC.BallCameraCfg.Matrix.Matrix[5]
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g := hikBC.BallCameraCfg.Matrix.Matrix[6]
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h := hikBC.BallCameraCfg.Matrix.Matrix[7]
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i := hikBC.BallCameraCfg.Matrix.Matrix[8]
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det := a*(e*i-f*h) - b*(d*i-f*g) + c*(d*h-e*g)
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if det == 0 {
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return false
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}
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invDet := 1.0 / det
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hikBC.BallCameraCfg.Matrix.InvMatrix = []float64{
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(e*i - f*h) * invDet,
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(c*h - b*i) * invDet,
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(b*f - c*e) * invDet,
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(f*g - d*i) * invDet,
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(a*i - c*g) * invDet,
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(c*d - a*f) * invDet,
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(d*h - e*g) * invDet,
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(b*g - a*h) * invDet,
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(a*e - b*d) * invDet,
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}
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return true
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x /= z
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y /= z
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return Point{X: x, Y: y}
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}
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func (hikBC *HIKBallCamera) mapping(startV float64, max float64, value float64, direction string, method string) float64 {
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if direction == "+" {
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if method == "inv" {
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if value > (max - startV) {
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return value - (max - startV)
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} else {
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return startV + value // 映射
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}
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} else {
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if value > startV {
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return value - startV
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} else {
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return (max - startV) + value // 映射
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}
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}
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} else {
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if value > startV {
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return startV + max - value
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} else {
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return startV - value
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}
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}
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if direction == "+" {
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if method == "inv" {
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if value > (max - startV) {
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return value - (max - startV)
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} else {
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return startV + value // 映射
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}
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} else {
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if value > startV {
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return value - startV
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} else {
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return (max - startV) + value // 映射
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}
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}
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} else {
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if value > startV {
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return startV + max - value
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} else {
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return startV - value
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}
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}
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}
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