1. 添加 球机的一点即视 和 逆运算接口

2. 添加 Nvr 和 球机 的配置结构体 和一些基本结构体类型
3. 修改 Nvr 和 球机 的 Login 方法
4. 修复 球机部分 MOVE 操作无法停止
5. 修复 HikBase Login 返回值错误

Hikvision.go

@@ -51,9 +51,9 @@ func init() {
 func getSystemLibrary() string {
 	switch runtime.GOOS {
 	case "linux":
-		if runtime.GOARCH == "amd64" || runtime.GOARCH == "386"{
+		if runtime.GOARCH == "amd64" || runtime.GOARCH == "386" {
 			return "libHikNetSDKPkg_linux_amd64.so"
-		}else{
+		} else {
 			return " libHikNetSDKPkg_linux_arm64.so"
 		}
 	case "windows":
@@ -64,17 +64,19 @@ func getSystemLibrary() string {
 }
 
 type HIKBallCamera struct {
-	core unsafe.Pointer
+	core          unsafe.Pointer
+	BallCameraCfg BallCamera
 }
 
-func NewHIKBallCamera() *HIKBallCamera {
+func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
 	return &HIKBallCamera{
-		core: newHIKBallCamera(),
+		core:          newHIKBallCamera(),
+		BallCameraCfg: BallCameraCfg,
 	}
 }
 
-func (h *HIKBallCamera) Login(ip string, port string, username string, password string, BallMachineType string) bool {
-	return initBallCamera(h.core, ip, port, username, password, BallMachineType)
+func (h *HIKBallCamera) Login() bool {
+	return initBallCamera(h.core, h.BallCameraCfg.Ip, h.BallCameraCfg.Port, h.BallCameraCfg.User, h.BallCameraCfg.Password, h.BallCameraCfg.Type)
 }
 func (h *HIKBallCamera) PtzTo(Action int, P, T, Z float32) bool {
 	return ptzTo(h.core, Action, P, T, Z)
@@ -90,17 +92,19 @@ func (h *HIKBallCamera) StartBus(Direction, Speed int) bool {
 }
 
 type HIKNvr struct {
-	core unsafe.Pointer
+	core      unsafe.Pointer
+	NvrConfig Nvr
 }
 
-func NewHIKNvr() *HIKNvr {
+func NewHIKNvr(nvrConfig Nvr) *HIKNvr {
 	return &HIKNvr{
-		core: newHIKNvr(),
+		core:      newHIKNvr(),
+		NvrConfig: nvrConfig,
 	}
 }
 
-func (h *HIKNvr) Login(ip string, port string, username string, password string, nvrType int) bool {
-	return initNvr(h.core, ip, port, username, password, nvrType)
+func (h *HIKNvr) Login() bool {
+	return initNvr(h.core, h.NvrConfig.Ip, h.NvrConfig.Port, h.NvrConfig.User, h.NvrConfig.Password, h.NvrConfig.Channel)
 }
 
 func (h *HIKNvr) CheckTimeRegionWithMonth(year int, month int) string {
@@ -109,3 +113,91 @@ func (h *HIKNvr) CheckTimeRegionWithMonth(year int, month int) string {
 func (h *HIKNvr) CheckTimeRegionWithDay(year int, month int, day int) string {
 	return checkTimeRegionWithDay(h.core, year, month, day)
 }
+
+func (h *HIKBallCamera) WarpingPtByHomography(matrix []float64, p Point) Point {
+	var x, y, z float64
+	x = matrix[0]*p.X + matrix[1]*p.Y + 1.*matrix[2]
+	y = matrix[3]*p.X + matrix[4]*p.Y + 1.*matrix[5]
+	z = matrix[6]*p.X + matrix[7]*p.Y + 1.*matrix[8]
+
+	x /= z
+	y /= z
+	return Point{X: x, Y: y}
+}
+
+func (h *HIKBallCamera) mapping(startV float64, max float64, value float64, direction string, method string) float64 {
+	if direction == "+" {
+		if method == "inv" {
+			if value > (max - startV) {
+				return value - (max - startV)
+			} else {
+				return startV + value // 映射
+			}
+		} else {
+			if value > startV {
+				return value - startV
+			} else {
+				return (max - startV) + value // 映射
+			}
+		}
+	} else {
+		if value > startV {
+			return startV + max - value
+		} else {
+			return startV - value
+		}
+	}
+}
+
+func (h *HIKBallCamera) OneClickToSeeInFullView(point Point) bool {
+	TransPoint := h.WarpingPtByHomography(h.BallCameraCfg.Matrix.Matrix, point)
+	return h.PtzTo(5,
+		float32(h.mapping(h.BallCameraCfg.Matrix.PStart, h.BallCameraCfg.Matrix.PMax, TransPoint.X, h.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
+		float32(h.mapping(h.BallCameraCfg.Matrix.TStart, h.BallCameraCfg.Matrix.TMax, TransPoint.Y, h.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
+		0.0,
+	)
+}
+
+func (h *HIKBallCamera) PTZ2FullView() (Point, error) {
+	var ptz PTZ
+	if !h.PTZGet(&ptz.P, &ptz.T, &ptz.Z) {
+		return Point{}, fmt.Errorf("PTZ Get Error")
+	}
+	h.WarpingPtByHomography(h.BallCameraCfg.Matrix.InvMatrix, Point{
+		X: h.mapping(h.BallCameraCfg.Matrix.PStart, h.BallCameraCfg.Matrix.PMax, float64(ptz.P), h.BallCameraCfg.Matrix.PPositiveDirection, ""),
+		Y: h.mapping(h.BallCameraCfg.Matrix.TStart, h.BallCameraCfg.Matrix.TMax, float64(ptz.T), h.BallCameraCfg.Matrix.TPositiveDirection, "")})
+	return Point{}, nil
+}
+
+func (hikBC *HIKBallCamera) invert3x3() bool {
+
+	a := hikBC.BallCameraCfg.Matrix.Matrix[0]
+	b := hikBC.BallCameraCfg.Matrix.Matrix[1]
+	c := hikBC.BallCameraCfg.Matrix.Matrix[2]
+	d := hikBC.BallCameraCfg.Matrix.Matrix[3]
+	e := hikBC.BallCameraCfg.Matrix.Matrix[4]
+	f := hikBC.BallCameraCfg.Matrix.Matrix[5]
+	g := hikBC.BallCameraCfg.Matrix.Matrix[6]
+	h := hikBC.BallCameraCfg.Matrix.Matrix[7]
+	i := hikBC.BallCameraCfg.Matrix.Matrix[8]
+
+	det := a*(e*i-f*h) - b*(d*i-f*g) + c*(d*h-e*g)
+
+	if det == 0 {
+		return false
+	}
+
+	invDet := 1.0 / det
+	hikBC.BallCameraCfg.Matrix.InvMatrix = []float64{
+		(e*i - f*h) * invDet,
+		(c*h - b*i) * invDet,
+		(b*f - c*e) * invDet,
+		(f*g - d*i) * invDet,
+		(a*i - c*g) * invDet,
+		(c*d - a*f) * invDet,
+		(d*h - e*g) * invDet,
+		(b*g - a*h) * invDet,
+		(a*e - b*d) * invDet,
+	}
+	return true
+}