kunmeng/HikNetSDKPkg
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1. 添加 球机的一点即视 和 逆运算接口

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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
This commit is contained in:
王帅锟
2024-10-12 12:43:38 +08:00
parent a52e1a27fc
commit bd6cff81ec
6 changed files with 615 additions and 450 deletions
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2
.gitignore vendored
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@@ -1,4 +1,6 @@
/.idea
/.cache
/.fleet
/cmake-build-debug-visual-studio
/cmake-build-release-visual-studio
*.lib

28
CMakeLists.txt
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@@ -44,21 +44,21 @@ if(OS STREQUAL "Windows")
target_link_libraries(HikNetSDKPkg PRIVATE "HCNetSDK.lib")
target_link_libraries(HikNetSDKPkg PRIVATE "HCCore.lib")
target_link_libraries(HikNetSDKPkg PRIVATE "GdiPlus.lib")
elseif (Arch STREQUAL "x86_64")
elseif (Arch STREQUAL "x86_64" OR Arch STREQUAL "amd64")
target_link_directories(HikNetSDKPkg PRIVATE "./amd64_linux_lib")
target_link_libraries(HikNetSDKPkg "libHCCore.so")
target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg "libhpr.so")
target_link_libraries(HikNetSDKPkg "libz.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libHCCore.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libz.so")
elseif (Arch STREQUAL "aarch64")
target_link_directories(HikNetSDKPkg PRIVATE "./arm64_linux_lib")
target_link_libraries(HikNetSDKPkg "libAudioRender.so")
target_link_libraries(HikNetSDKPkg "libcrypto.so")
target_link_libraries(HikNetSDKPkg "libHCCore.so")
target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg "libhpr.so")
target_link_libraries(HikNetSDKPkg "libPlayCtrl.so")
target_link_libraries(HikNetSDKPkg "libssl.so")
target_link_libraries(HikNetSDKPkg "libSuperRender.so")
target_link_libraries(HikNetSDKPkg "libz.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libAudioRender.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libcrypto.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libHCCore.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libPlayCtrl.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libssl.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libSuperRender.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libz.so")
endif ()

108
Hikvision.go
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@@ -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":
@@ -65,16 +65,18 @@ func getSystemLibrary() string {
type HIKBallCamera struct {
core unsafe.Pointer
BallCameraCfg BallCamera
}
func NewHIKBallCamera() *HIKBallCamera {
func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
return &HIKBallCamera{
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)
@@ -91,16 +93,18 @@ func (h *HIKBallCamera) StartBus(Direction, Speed int) bool {
type HIKNvr struct {
core unsafe.Pointer
NvrConfig Nvr
}
func NewHIKNvr() *HIKNvr {
func NewHIKNvr(nvrConfig Nvr) *HIKNvr {
return &HIKNvr{
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
}

72
Type.go Normal file
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@@ -0,0 +1,72 @@
package HikNetSDK
import "encoding/json"
type HikCfg struct {
Nvr []Nvr `json:"Nvr"`
BallCamera []BallCamera `json:"BallCamera"`
}
type Nvr struct {
Name string `json:"name"`
Ip string `json:"ip"`
Port string `json:"port"`
User string `json:"user"`
Password string `json:"Password"`
Channel int `json:"Channel"`
}
type BallCamera struct {
Type string `json:"Type"`
Name string `json:"name"`
Ip string `json:"ip"`
Port string `json:"port"`
User string `json:"user"`
Password string `json:"Password"`
RtspUrl string `json:"RtspUrl"`
Matrix Matrix `json:"Matrix"`
Channel int `json:"Channel"`
}
type Matrix struct {
PStart float64 `json:"P_Start"`
PMax float64 `json:"P_Max"`
PPositiveDirection string `json:"p_Positive_Direction"`
TStart float64 `json:"T_Start"`
TMax float64 `json:"T_Max"`
TPositiveDirection string `json:"T_Positive_Direction"`
Matrix []float64 `json:"Matrix"`
InvMatrix []float64 `json:"InvMatrix"`
}
type PTZ struct {
P float32 `json:"P"`
T float32 `json:"T"`
Z float32 `json:"Z"`
}
type MoveCfg struct {
Speed int `json:"Speed"`
Direction int `json:"Direction"`
}
type Point struct {
X float64 `json:"x"`
Y float64 `json:"y"`
}
func (h *HikCfg) Json() []byte {
marshal, err := json.Marshal(h)
if err != nil {
return nil
}
return marshal
}
func (h *HikCfg) GetBallCameraByName(name string) *BallCamera {
for i, camera := range h.BallCamera {
if camera.Name == name {
return &h.BallCamera[i]
}
}
return nil
}

26
src/HIKBallCamera.cpp
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@@ -21,14 +21,14 @@ bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string
{
int res = Login(ip, port, username, password);
if (res != 0){
std::cout << "Incorrect Login" << std::endl;
std::cout << "Incorrect Login error code:" << res << std::endl;
return false;
}
m_Channel = DeviceInfo.byStartChan;
this->BallMachineType = BallMachineType;
//建立透明通道
if (BallMachineType == "BuKongQiu"){
NET_DVR_SERIALSTART_V40 struSerialParam = { 0 };
struSerialParam.dwSize = sizeof(struSerialParam);
struSerialParam.dwSerialType = 2;//1:232串口；2:485串口
@@ -41,7 +41,7 @@ bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string
NET_DVR_Cleanup();
return false;
}
}
return true;
}
@@ -93,7 +93,7 @@ bool HIKBallCamera::PtzControlRight(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(PAN_RIGHT, 0, speed);
return PtzControl(PAN_RIGHT, state, speed);
}
}
@@ -105,7 +105,7 @@ bool HIKBallCamera::PtzControlUp(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_UP, 0, speed);
return PtzControl(TILT_UP, state, speed);
}
}
@@ -117,7 +117,7 @@ bool HIKBallCamera::PtzControlDown(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_DOWN, 0, speed);
return PtzControl(TILT_DOWN, state, speed);
}
}
@@ -127,7 +127,7 @@ bool HIKBallCamera::PtzControlZoomIn(int speed,int state)
SerialSend(PrepareHexString("ff 01 00 20 00 00 21"));
return true;
}else{
return PtzControl(ZOOM_IN, 0, speed);
return PtzControl(ZOOM_IN, state, speed);
}
}
@@ -137,7 +137,7 @@ bool HIKBallCamera::PtzControlZoomOut(int speed,int state)
SerialSend(PrepareHexString("ff 01 00 40 00 00 41"));
return true;
}else{
return PtzControl(ZOOM_OUT, 0, speed);
return PtzControl(ZOOM_OUT, state, speed);
}
}
@@ -148,7 +148,7 @@ bool HIKBallCamera::PtzControlFocusAdd(int speed,int state){
SerialSend(PrepareHexString("ff 01 01 00 00 00 02"));
return true;
}else{
return PtzControl(ZOOM_OUT, 1, speed);
return PtzControl(ZOOM_OUT, state, speed);
}
}
@@ -158,7 +158,7 @@ bool HIKBallCamera::PtzControlFocusSub(int speed,int state){
SerialSend(PrepareHexString("ff 01 00 80 00 00 81"));
return true;
}else{
return PtzControl(ZOOM_OUT, 1, speed);
return PtzControl(ZOOM_OUT, state, speed);
}
}
@@ -188,7 +188,7 @@ bool HIKBallCamera::PtzControlUpRight(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(UP_RIGHT, 0, speed);
return PtzControl(UP_RIGHT, state, speed);
}
}
@@ -200,7 +200,7 @@ bool HIKBallCamera::PtzControlDownLeft(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_LEFT, 0, speed);
return PtzControl(DOWN_LEFT, state, speed);
}
}
@@ -212,7 +212,7 @@ bool HIKBallCamera::PtzControlDownRight(int speed,int state)
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_RIGHT, 0, speed);
return PtzControl(DOWN_RIGHT, state, speed);
}
}

3
src/HIKBase.cpp
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@@ -19,8 +19,7 @@ int HIKBase::Login(std::string ip, std::string port, std::string username, std::
Password = password;
LoginID = NET_DVR_Login_V30((char *)Ip.c_str(), atoi(Port.c_str()), (char *)Username.c_str(), (char *)Password.c_str(), &DeviceInfo);
std::cout << LoginID <<std::endl;
return LoginID;
return NET_DVR_GetLastError();
}
void HIKBase::Logout()