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@@ -1,4 +1,6 @@
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<script setup lang="ts">
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+import axios from 'axios'
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+import { v4 as uuidv4 } from 'uuid';
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import Viewer from 'viewerjs'
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import 'viewerjs/dist/viewer.css'
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@@ -6,7 +8,6 @@ const positiveDirectionPOptions = ref([{ label: '+', value: '+' }, { label: '-',
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const positiveDirectionTOptions = ref([{ label: '+', value: '+' }, { label: '-', value: '-' }])
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const system = useSystemStore()
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-
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const currentBallCamera = ref('')
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const addDialogV = ref(false)
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@@ -52,18 +53,109 @@ function imgSrcLoad() {
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imgSrcLoading.value = false
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}
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-interface MarkItemType { id: number, x: number, y: number, color: string }
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+interface MarkItemType { id: string, p: number, t: number, x: number, y: number, color: string }
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type MarkType = MarkItemType[]
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const mark = ref<MarkType>([])
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const markClone = ref<MarkType>([])
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const currentMark = ref<MarkItemType>({
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- id: 0,
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+ id: '',
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+ p: 0.0,
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+ t: 0.0,
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x: 0.0,
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y: 0.0,
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color: '#000',
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})
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+// opencv ==============start
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+async function buildMatrix() {
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+ let srcPoints: any = [];
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+ let dstPoints: any = [];
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+
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+ // 遍历点集收集源点和目标点
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+ // Object.values(_imgController.p).forEach(v => {
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+ // if (v.p !== undefined && v.t !== undefined) {
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+ // srcPoints.push([v.x, v.y]);
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+ // dstPoints.push([v.p, v.t]);
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+ // }
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+ // });
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+ PTXYMap.forEach(function (v: any, key) {
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+ if (v.P !== undefined && v.T !== undefined) {
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+ srcPoints.push([v.X, v.Y]);
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+ dstPoints.push([v.P, v.T]);
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+ }
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+ })
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+
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+ let matrix = null;
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+
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+ if (srcPoints.length >= 4) {
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+ // 将点集转换为OpenCV矩阵格式
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+ const srcMat = pointsToMat(srcPoints);
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+ const dstMat = pointsToMat(dstPoints);
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+
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+ // 计算单应性矩阵
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+ matrix = findHomography(srcMat, dstMat);
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+ console.log(matrix);
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+
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+ // 清理临时矩阵（OpenCV.js内存管理）
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+ srcMat.delete();
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+ dstMat.delete();
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+ }
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+
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+ // 应用矩阵到所有点
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+ PTXYMap.forEach(function (v: any, key) {
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+ if (v.P !== undefined && v.T !== undefined) {
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+ matrix2Point(v, matrix);
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+ }
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+ })
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+}
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+
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+// 将点数组转换为OpenCV矩阵（CV_64FC2类型）
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+function pointsToMat(points: any) {
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+ const data = new Float64Array(points.length * 2);
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+ points.forEach(([x, y]:[any, any], i: number) => {
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+ data[i * 2] = x;
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+ data[i * 2 + 1] = y;
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+ });
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+ return window.cv.matFromArray(points.length, 1, window.cv.CV_64FC2, data);
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+}
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+
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+// 计算单应性矩阵
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+function findHomography(srcPoints:any, dstPoints:any) {
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+ const homography = new window.cv.Mat();
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+ // 使用基本参数版本：src, dst, method (0), ransacReprojThreshold (3)
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+ window.cv.findHomography(srcPoints, dstPoints, homography, 0, 3);
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+ return homography;
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+}
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+
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+// 应用矩阵变换到单个点
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+function matrix2Point(v:any, matrix:any) {
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+ if (!matrix || matrix.empty()) return;
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+
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+ // 创建输入矩阵（齐次坐标）
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+ const src = window.cv.matFromArray(3, 1, window.cv.CV_64FC1, [v.X, v.Y, 1]);
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+ const dst = new window.cv.Mat();
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+
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+ // 执行矩阵变换
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+ window.cv.gemm(matrix, src, 1, null, 0, dst);
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+
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+ // 转换为笛卡尔坐标
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+ const w = dst.data64F[2];
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+ if (Math.abs(w) > Number.EPSILON) {
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+ v.p_transformed = dst.data64F[0] / w;
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+ v.t_transformed = dst.data64F[1] / w;
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+ }
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+
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+ // 清理临时矩阵
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+ src.delete();
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+ dst.delete();
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+}
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+
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+// opencv =============end
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+
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+
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function markClick(item: MarkItemType) {
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+ console.log(item);
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+
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currentMark.value = item
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colorReset(item.id)
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}
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@@ -76,7 +168,7 @@ function calculateOriginalCoords(x: number, y: number, originalWidth: number, or
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}
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// 重置颜色
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-function colorReset(id: number) {
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+function colorReset(id: string) {
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mark.value.forEach((v, i) => {
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v.color = '#000'
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markClone.value[i].color = '#000'
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@@ -90,19 +182,22 @@ function colorReset(id: number) {
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}
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// 删除标记
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-function del(id: number) {
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+function del(id: string) {
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if (!id)
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return
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mark.value = mark.value.filter(v => v.id !== id)
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markClone.value = markClone.value.filter(v => v.id !== id)
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- currentMark.value = mark.value[mark.value.length - 1]
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+ mark.value.length && (currentMark.value = mark.value[mark.value.length - 1])
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+ mark.value.length && colorReset(currentMark.value.id)
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}
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// 清空标记
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function clear() {
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mark.value = []
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markClone.value = []
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currentMark.value = {
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- id: 0,
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+ id: '',
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+ p: 0.0,
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+ t: 0.0,
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x: 0.0,
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y: 0.0,
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color: '#000',
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@@ -125,22 +220,25 @@ function markPointOnImageWithMargin(imgElement: HTMLImageElement) {
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id: v.id,
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x: v.x * (scaledWidth / originalWidth) + left - 12,
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y: v.y * (scaledHeight / originalHeight) + top - 12,
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+ p: v.p,
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+ t: v.t,
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color: v.color,
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}
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})
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mark.value.length && colorReset(currentMark.value.id)
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}
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-let id = 0
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function dbClick(e: MouseEvent) {
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// 获取鼠标点击位置
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const { offsetX, offsetY } = e
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const { originalX, originalY } = calculateOriginalCoords(offsetX, offsetY, (imgElement as HTMLImageElement).naturalWidth, (imgElement as HTMLImageElement).naturalHeight, (imgElement as HTMLImageElement).offsetWidth, (imgElement as HTMLImageElement).offsetHeight)
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const markV = {
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- id: ++id,
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+ id: uuidv4(),
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x: originalX,
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y: originalY,
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+ p: 0.0,
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+ t: 0.0,
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color: '#000',
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}
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mark.value.push(markV)
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@@ -149,9 +247,92 @@ function dbClick(e: MouseEvent) {
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markPointOnImageWithMargin(imgElement as HTMLImageElement)
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}
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-onMounted(() => {
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+
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+const PTXYMap = new Map<string, { P: number, T: number, X: number, Y: number }>()
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+
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+
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+function getPTXY(id: string, x: number, y: number) {
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+ if (!system.globalConfig.serverUrl) {
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+ system.msg('请先设置服务器地址')
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+ return
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+ }
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+ if (!currentMark.value.id) {
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+ system.msg('请双击创建标记')
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+ return
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+ }
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+ if (!id) {
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+ system.msg('请选择球机')
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+ return
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+ }
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+ axios.get(`https://${system.globalConfig.serverUrl}/api/BallCamera/PtzGet?CameraId=${id}`).then(res => {
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+ PTXYMap.set(currentMark.value.id, { P: res.data.data.P, T: res.data.data.T, X: x, Y: y })
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+ mark.value.forEach((v, i) => {
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+ if (v.id === currentMark.value.id) {
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+ const p = system.mapping(system.positiveConfig.P_Start, system.positiveConfig.P_Max, res.data.data.P, system.positiveConfig.P_Direction, "")
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+ const t = system.mapping(system.positiveConfig.T_Start, system.positiveConfig.T_Max, res.data.data.T, system.positiveConfig.T_Direction, "")
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+ v.p = p
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+ v.t = t
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+ markClone.value[i].p = p
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+ markClone.value[i].t = t
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+ }
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+ })
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+ })
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+
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+}
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+
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+const loadOld = () => {
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+ if (!system.ballCameraInfo) return
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+ console.log(system.ballCameraInfo);
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+ PTXYMap.clear()
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+ const ps: any = system.ballCameraInfo.Matrix.PointSet
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+ console.log(ps);
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+
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+ for (const key in ps) {
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+ PTXYMap.set(key, {
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+ P: ps[key].P,
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+ T: ps[key].T,
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+ X: ps[key].X,
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+ Y: ps[key].Y,
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+ })
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+ mark.value.push({
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+ id: key,
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+ x: ps[key].X,
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+ y: ps[key].Y,
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+ p: ps[key].P,
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+ t: ps[key].T,
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+ color: '#000',
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+ })
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+ }
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+
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+ markClone.value = JSON.parse(JSON.stringify(mark.value))
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+ colorReset(mark.value[mark.value.length - 1].id)
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+ currentMark.value = mark.value[mark.value.length - 1]
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+ markPointOnImageWithMargin(imgElement as HTMLImageElement)
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+}
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+
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+const jumpToPT = (p: number, t: number) => {
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+ if (!system.globalConfig.serverUrl) {
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+ system.msg('请先设置服务器地址')
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+ return
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+ }
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+ const pV = system.mapping(system.positiveConfig.P_Start, system.positiveConfig.P_Max, p, system.positiveConfig.P_Direction, "inv")
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+ const tV = system.mapping(system.positiveConfig.T_Start, system.positiveConfig.T_Max, t, system.positiveConfig.T_Direction, "inv")
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+ axios.put(`https://${system.globalConfig.serverUrl}/api/BallCamera/PtzSet?CameraId=${currentBallCamera.value}&Action=1`, { P: pV, T: tV, Z: 0 }).then(res => {
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+ console.log(res);
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+ })
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+}
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+
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+
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+
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+let viewer: Viewer
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+
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+watch(() => system.drawer, () => {
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+ console.log(viewer)
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+})
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+
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+function initViewer() {
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const updloadImg = document.getElementById('uploadImage') as HTMLImageElement
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- const _ = new Viewer(updloadImg, {
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+ viewer = new Viewer(updloadImg, {
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inline: true,
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backdrop: true,
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navbar: false,
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@@ -184,6 +365,10 @@ onMounted(() => {
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markPointOnImageWithMargin(imgElement as HTMLImageElement)
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},
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})
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+}
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+
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+onMounted(() => {
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+ initViewer()
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})
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</script>
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@@ -191,30 +376,21 @@ onMounted(() => {
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<v-row>
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<v-col class="relative" cols="12" md="6">
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<div class="flex-1">
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- <v-select
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- v-if="system.type?.Baseline === 'BoGuan'"
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- v-model="system.currentDevice" :items="system.deviceList" item-title="name" item-value="id"
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- label="选择设备"
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- @update:model-value="system.getBallCameraList"
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- />
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- <v-select
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- v-model="currentBallCamera" :items="system.ballCameraList" label="球机列表" item-title="name" item-value="id" @update:model-value="system.getBallCameraInfo"
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- >
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+ <v-select v-if="system.type?.Baseline === 'BoGuan'" v-model="system.currentDevice" :items="system.deviceList"
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+ item-title="name" item-value="id" label="选择设备" @update:model-value="system.getBallCameraList" />
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+ <v-select v-model="currentBallCamera" :items="system.ballCameraList" label="球机列表" item-title="name"
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+ item-value="id" @update:model-value="system.getBallCameraInfo">
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<template #append>
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<add-ball v-model:dialog="addDialogV">
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<template #activator="{ props: activatorProps }">
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- <v-btn
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- v-tooltip:top="'添加球机'" size="large" rounded="0" variant="flat" icon="mdi-plus-thick"
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- v-bind="activatorProps"
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- />
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+ <v-btn v-tooltip:top="'添加球机'" size="large" rounded="0" variant="flat" icon="mdi-plus-thick"
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+ v-bind="activatorProps" />
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</template>
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</add-ball>
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<v-dialog max-width="400">
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<template #activator="{ props: activatorProps }">
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- <v-btn
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- v-tooltip:top="'删除球机'" size="large" rounded="0" variant="flat" icon="mdi-trash-can"
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- v-bind="activatorProps"
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- />
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+ <v-btn v-tooltip:top="'删除球机'" size="large" rounded="0" variant="flat" icon="mdi-trash-can"
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+ v-bind="activatorProps" />
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</template>
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<template #default="{ isActive }">
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@@ -236,47 +412,62 @@ onMounted(() => {
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<v-row>
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<v-col>
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<v-sheet>
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- <v-number-input
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- v-model="system.positiveConfig.P_Start" control-variant="stacked" :precision="1"
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- hide-details="auto" label="P 起始值"
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- />
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+ <v-number-input v-model="system.positiveConfig.P_Start" control-variant="stacked" :precision="1"
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+ hide-details="auto" label="P 起始值" />
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+ </v-sheet>
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+ </v-col>
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+
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+ <v-col>
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+ <v-sheet>
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+ <v-number-input v-model="system.positiveConfig.T_Start" control-variant="stacked" :precision="1"
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+ hide-details="auto" label="T 起始值" />
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+ </v-sheet>
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+ </v-col>
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+ </v-row>
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+ <v-row>
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+ <v-col>
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+ <v-sheet>
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+ <v-number-input v-model="system.positiveConfig.P_Max" control-variant="stacked" :precision="1"
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+ hide-details="auto" label="P 最大值" />
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</v-sheet>
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</v-col>
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<v-col>
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<v-sheet>
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- <v-number-input
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- v-model="system.positiveConfig.T_Start" control-variant="stacked" :precision="1"
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- hide-details="auto" label="T 起始值"
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- />
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+ <v-number-input v-model="system.positiveConfig.T_Max" control-variant="stacked" :precision="1"
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+ hide-details="auto" label="T 最大值" />
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</v-sheet>
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</v-col>
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</v-row>
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<v-row>
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<v-col>
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<v-sheet>
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- <v-select
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- v-model="system.positiveConfig.p" :items="positiveDirectionPOptions" item-title="label"
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- item-value="value" label="P 正方向"
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- />
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+ <v-select v-model="system.positiveConfig.P_Direction" :items="positiveDirectionPOptions"
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+ item-title="label" item-value="value" label="P 正方向" />
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</v-sheet>
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</v-col>
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<v-col>
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<v-sheet>
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- <v-select
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- v-model="system.positiveConfig.t" :items="positiveDirectionTOptions" item-title="label"
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- item-value="value" label="T 正方向"
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- />
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+ <v-select v-model="system.positiveConfig.T_Direction" :items="positiveDirectionTOptions"
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+ item-title="label" item-value="value" label="T 正方向" />
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</v-sheet>
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</v-col>
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</v-row>
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<!-- 视频播放 -->
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<div class="p-1">
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- <v-card loading title="画面预览" subtitle="当前P0.0,当前T0.0,当前标定点位的个数0" text="">
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- <div class="aspect-ratio-video b-1 b-#ccc b-solid bg-black" />
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+ <v-card :loading="system.canvasVideoLoading" title="画面预览"
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+ :subtitle="`当前P ${system.PT.p},当前T ${system.PT.t},当前标定点位的个数0`" text="">
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+ <div class="relative aspect-ratio-video b-1 b-#ccc b-solid bg-black">
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+ <v-icon icon="mdi-plus" color="#ef4444" class="absolute top-50% left-50% transform-translate--50%" :style="{
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+ textShadow: `0 -1px #fff, 1px 0px #fff, 0 1px #fff, -1px 0 #fff,
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+ -1px -1px #fff, 1px 1px #fff, 1px -1px #fff, -1px 1px #fff`,
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+ }" />
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+ <canvas v-if="system.resetDom" class="canvas-video h-full w-full" />
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+ </div>
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<v-card-actions>
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- <v-btn block variant="tonal">
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+ <v-btn :disabled="system.canvasVideoLoading" block variant="tonal"
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+ @click="system.playBallCamera(currentBallCamera)">
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播放
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</v-btn>
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</v-card-actions>
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@@ -286,7 +477,9 @@ onMounted(() => {
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<div class="grid grid-cols-3 grid-rows-3">
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<div v-for="tool in tools" :key="tool.type">
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<div v-if="!tool.type" class="invisible" />
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- <v-btn v-else width="60" height="40" variant="tonal" color="blue-darken-2">
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+ <v-btn v-else width="60" height="40" variant="tonal" color="blue-darken-2"
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+ @mousedown="system.ballMove(currentBallCamera, { Speed: step, Direction: tool.value })"
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+ @mouseup="system.ballStop(currentBallCamera, { Direction: tool.value })">
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{{ tool.icon }}
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</v-btn>
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</div>
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@@ -294,10 +487,14 @@ onMounted(() => {
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<v-divider class="mx-2" vertical opacity="8" />
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<div class="flex-1">
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<div class="flex justify-around">
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- <v-btn variant="tonal" color="blue-darken-2">
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+ <v-btn variant="tonal" color="blue-darken-2"
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+ @mousedown="system.ballMove(currentBallCamera, { Speed: step, Direction: 9 })"
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+ @mouseup="system.ballStop(currentBallCamera, { Direction: 9 })">
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🔍+
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</v-btn>
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- <v-btn variant="tonal" color="blue-darken-2">
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+ <v-btn variant="tonal" color="blue-darken-2"
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+ @mousedown="system.ballMove(currentBallCamera, { Speed: step, Direction: 10 })"
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+ @mouseup="system.ballStop(currentBallCamera, { Direction: 10 })">
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🔎-
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</v-btn>
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</div>
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@@ -308,8 +505,8 @@ onMounted(() => {
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|
云台转动速度:{{ step }}
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</div>
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<div class="mt-1 text-center">
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- <v-btn color="blue">
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- 使用旧节点
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+ <v-btn color="blue" @click="loadOld">
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+ 使用旧的点
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</v-btn>
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</div>
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</div>
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@@ -323,20 +520,18 @@ onMounted(() => {
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<v-skeleton-loader v-if="imgSrcLoading" height="100%" type="image" />
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<img id="uploadImage" class="w-full" :src="imgSrc" alt="图片预览" @load="imgSrcLoad">
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<v-empty-state v-if="!imgSrcLoading && !imgSrc" icon="mdi-image-broken-variant" title="暂无上传图片" />
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- <v-icon
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|
- v-for="(item, index) in mark" :key="index" :style="{
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|
|
- top: `${item.y}px`,
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|
- left: `${item.x}px`,
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|
|
- textShadow: `0 -1px #fff, 1px 0px #fff, 0 1px #fff, -1px 0 #fff,
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|
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+ <v-icon v-for="(item, index) in mark" :key="index" :style="{
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|
|
+ top: `${item.y}px`,
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|
|
+ left: `${item.x}px`,
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|
|
+ textShadow: `0 -1px #fff, 1px 0px #fff, 0 1px #fff, -1px 0 #fff,
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|
|
-1px -1px #fff, 1px 1px #fff, 1px -1px #fff, -1px 1px #fff`,
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|
|
- }" :color="item.color" icon="mdi-plus-thick" class="absolute bottom-0" variant="tonal"
|
|
|
- @click="markClick(item)"
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|
|
- />
|
|
|
+ }" :color="item.color" icon="mdi-plus-thick" class="absolute bottom-0" variant="tonal"
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|
|
+ @click="markClick(item)" />
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|
</div>
|
|
|
<div class="flex flex-col items-center">
|
|
|
<v-chip class="ma-2" color="blue" label>
|
|
|
<v-icon icon="mdi-map-marker-radius" start />
|
|
|
- 选中的标记 P: {{ currentMark.x }}, T: {{ currentMark.y }}
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|
|
+ 选中的标记 P: {{ currentMark.p }}, T: {{ currentMark.t }}
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</v-chip>
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|
<v-card min-width="90%">
|
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|
<v-card-text>
|
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|
@@ -348,23 +543,23 @@ onMounted(() => {
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|
|
</div>
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<v-row justify="center">
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|
<v-col>
|
|
|
- <v-btn width="100%">
|
|
|
- 当前PT位置装在PT
|
|
|
+ <v-btn width="100%" @click="getPTXY(currentBallCamera, currentMark.x, currentMark.y)">
|
|
|
+ 当前PT位置装载PT
|
|
|
</v-btn>
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</v-col>
|
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|
<v-col>
|
|
|
<v-btn width="100%">
|
|
|
- 根据映射矩阵装在PT
|
|
|
+ 根据映射矩阵装载PT
|
|
|
</v-btn>
|
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|
</v-col>
|
|
|
<v-col>
|
|
|
- <v-btn width="100%">
|
|
|
+ <v-btn width="100%" @click="buildMatrix">
|
|
|
生成映射矩阵
|
|
|
</v-btn>
|
|
|
</v-col>
|
|
|
<v-col>
|
|
|
- <v-btn width="100%">
|
|
|
+ <v-btn width="100%" @click="jumpToPT(currentMark.p, currentMark.t)">
|
|
|
跳转到PT
|
|
|
</v-btn>
|
|
|
</v-col>
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