/// <summary>
/// 启动gb28181摄像头
/// </summary>
/// <param name="cil"></param>
private static void liveGB28181(CameraInstance cil)
{
try
{
ResponseStruct rs = null;
var gbRet = CommonApi.LiveVideo(cil.PushMediaServerId,
cil.CameraDeviceLable,
cil.CameraChannelLable, out rs, (bool)cil.IfGb28181Tcp !);
if (gbRet != null && rs.Code == ErrorNumber.None)
{
CameraSession sessionsub = null;
lock (Common.CameraSessionLock)
{
sessionsub = Common.CameraSessions.FindLast(x =>
x.App !.Equals(gbRet.App) &&
x.Vhost !.Equals(gbRet.Vhost) &&
x.StreamId !.Equals(gbRet.MediaId));
}
if (sessionsub != null)
{
lock (Common.CameraSessionLock)
{
sessionsub.CameraId = cil.CameraId;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine("liveGB28181 Except:\r\n" + ex.Message + "\r\n" + ex.StackTrace);
}
}
public void PoseTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.IsNotNull(cameraInstance.PoseWorld);
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
// Set new Pose
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(3, 4, 5), 0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix44F(), cameraInstance.ViewInverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix44F(), cameraInstance.View));
// Set Position and Orientation
position = new Vector3F(5, 6, 7);
orientation = QuaternionF.CreateRotation(new Vector3F(1, -1, 6), -0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix44F(), cameraInstance.View));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix44F(), cameraInstance.ViewInverse));
}
public FormCamera(CameraInstance instance)
{
InitializeComponent();
_instance = instance;
ckFixed.Checked = _instance.Fixed;
}
/// <summary>
/// 停止摄像头
/// </summary>
/// <param name="cil"></param>
private static void stopCamera(CameraInstance cil)
{
try
{
if (cil != null && cil.EnableLive == false)
{
CameraSession cameraSession = null;
cameraSession = getCameraCurrentSession(cil);
if (cameraSession != null && cameraSession.IsOnline == true)
{
switch (cil.CameraType)
{
case CameraType.Rtsp:
stopRtsp(cameraSession);
break;
case CameraType.GB28181:
stopGB28181(cameraSession);
break;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine("stopCamera Except:\r\n" + ex.Message + "\r\n" + ex.StackTrace);
}
}
public void PoseTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.IsNotNull(cameraInstance.PoseWorld);
Assert.AreEqual(Vector3.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix.Identity, cameraInstance.PoseWorld.Orientation);
// Set new Pose
Vector3 position = new Vector3(1, 2, 3);
Quaternion orientation = Quaternion.CreateFromRotationMatrix(new Vector3(3, 4, 5), 0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix(), cameraInstance.ViewInverse));
Assert.IsTrue(Matrix.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix(), cameraInstance.View));
// Set Position and Orientation
position = new Vector3(5, 6, 7);
orientation = Quaternion.CreateFromRotationMatrix(new Vector3(1, -1, 6), -0.123f);
cameraInstance.PoseWorld = new Pose(position, orientation);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Matrix.AreNumericallyEqual(cameraInstance.PoseWorld.Inverse.ToMatrix(), cameraInstance.View));
Assert.IsTrue(Matrix.AreNumericallyEqual(cameraInstance.PoseWorld.ToMatrix(), cameraInstance.ViewInverse));
}
public void PoseChangedTest()
{
bool poseChanged = false;
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
cameraInstance.PoseChanged += (sender, eventArgs) => poseChanged = true;
cameraInstance.PoseWorld = new Pose(new Vector3F(1, 2, 3));
Assert.IsTrue(poseChanged);
}
/// <summary>
/// 启动摄像头
/// </summary>
/// <param name="cil"></param>
private static void liveCamera(CameraInstance cil)
{
try
{
CameraSession cameraSession = null;
if (cil != null && cil.EnableLive)
{
cameraSession = getCameraCurrentSession(cil);
if (cameraSession == null || (cameraSession != null && cameraSession.IsOnline == false)
) //camera没有，或者isonline是false要推流
{
CameraType ctype = cameraSession != null ? cameraSession.CameraType : cil.CameraType;
switch (ctype)
{
case CameraType.Rtsp:
liveRtsp(cil);
break;
case CameraType.GB28181:
liveGB28181(cil);
break;
}
}
else if (cameraSession != null && string.IsNullOrEmpty(cameraSession.CameraId) &&
cameraSession.IsOnline == true
) //当camera不为空，但camera.cameraid为空时，不需要重新推，但要补全这个id
{
CameraSession sessionsub = null;
lock (Common.CameraSessionLock)
{
sessionsub = Common.CameraSessions.FindLast(x =>
x.App !.Equals(cameraSession.App) &&
x.Vhost !.Equals(cameraSession.Vhost) &&
x.StreamId !.Equals(cameraSession.StreamId));
}
if (sessionsub != null)
{
lock (Common.CameraSessionLock)
{
cameraSession.CameraId = cil.CameraId;
}
}
}
}
}
catch (Exception ex)
{
Console.WriteLine("liveCamera Except:\r\n" + ex.Message + "\r\n" + ex.StackTrace);
}
}
public void PoseChangedTest()
{
bool poseChanged = false;
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
cameraInstance.PoseChanged += (sender, eventArgs) => poseChanged = true;
cameraInstance.PoseWorld = new Pose(new Vector3(1, 2, 3));
Assert.IsTrue(poseChanged);
}
public void ShapeChangedTest()
{
bool shapeChanged = false;
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
cameraInstance.BoundingShapeChanged += (sender, eventArgs) => shapeChanged = true;
cameraInstance.Camera.Projection.Far = 9;
Assert.IsTrue(shapeChanged);
}
private void Awake()
{
if (instance == null)
{
instance = this;
DontDestroyOnLoad(gameObject);
}
else
{
Destroy(gameObject);
}
}
/// <summary>
/// 停止摄像头
/// </summary>
/// <param name="cil"></param>
private static void stopCamera(CameraInstance cil)
{
try
{
if (cil != null && cil.EnableLive == false)
{
CameraSession cameraSession = null !;
cameraSession = GetCameraCurrentSession(cil);
if (cameraSession != null && cameraSession.IsOnline == true)
{
switch (cil.CameraType)
{
case CameraType.Rtsp:
StopRtsp(cameraSession);
break;
case CameraType.GB28181:
bool found = false;
lock (Common.SipProcess.SipDeviceLock)
{
var dev = Common.SipProcess.SipDeviceList.FindLast(x =>
x.DeviceId.Equals(cil.CameraDeviceLable));
if (dev != null && dev.CameraExList != null && dev.CameraExList.Count > 0)
{
var camera = dev.CameraExList.FindLast(x =>
x.Camera != null && x.Camera.DeviceID.Equals(cil.CameraChannelLable));
if (camera != null)
{
found = true;
//break;
}
}
}
if (found == true)
{
stopGB28181(cameraSession);
}
break;
}
}
}
}
catch (Exception ex)
{
Logger.Logger.Error("stopCamera Except ->" + ex.Message + "->" + ex.StackTrace);
}
}
//public static bool Init = false;
/// <summary>
/// 获取摄像头session
/// </summary>
/// <param name="cil"></param>
/// <returns></returns>
private static CameraSession GetCameraCurrentSession(CameraInstance cil)
{
try
{
CameraSession session = null !;
if (cil.CameraType == CameraType.GB28181)
{
lock (Common.CameraSessionLock)
{
if (cil.MobileCamera == true) //如果是移动摄像头，就不再检查ip地址
{
session = Common.CameraSessions.FindLast(x =>
x.ClientType == ClientType.Camera &&
x.CameraType == CameraType.GB28181 &&
x.CameraEx !.Camera.DeviceID.Equals(cil.CameraChannelLable) &&
x.CameraEx.Camera.ParentID.Equals(cil.CameraDeviceLable)) !;
}
else
{
session = Common.CameraSessions.FindLast(x =>
x.ClientType == ClientType.Camera &&
x.CameraType == CameraType.GB28181 &&
x.CameraEx !.Camera.IPAddress.Equals(cil.CameraIpAddress) && //为支持公网远程设备的ip不固定性，取消ip 地址校验
x.CameraEx.Camera.DeviceID.Equals(cil.CameraChannelLable) &&
x.CameraEx.Camera.ParentID.Equals(cil.CameraDeviceLable)) !;
}
}
}
if (cil.CameraType == CameraType.Rtsp) //rtsp摄像头一定是固定ip地址的
{
lock (Common.CameraSessionLock)
{
session = Common.CameraSessions.FindLast(x =>
x.ClientType == ClientType.Camera &&
x.CameraType == CameraType.Rtsp &&
x.CameraIpAddress !.Equals(cil.CameraIpAddress) &&
x.CameraEx !.InputUrl !.Equals(cil.IfRtspUrl)) !;
}
}
return(session !);
}
catch (Exception ex)
{
Logger.Logger.Error("getCameraCurrentSession Except -> " + ex.Message + "->" + ex.StackTrace);
return(null !);
}
}
public void InverseViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix44F.Identity, cameraInstance.View);
Assert.AreEqual(Matrix44F.Identity, cameraInstance.ViewInverse);
Vector3F position = new Vector3F(1, 2, 3);
Vector3F target = new Vector3F(2, 5, 4);
Vector3F upVector = new Vector3F(1, 1, 1);
Matrix44F view = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.ViewInverse = view.Inverse;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view, cameraInstance.View));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view.Inverse, cameraInstance.ViewInverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(view.Inverse, cameraInstance.PoseWorld.ToMatrix44F()));
}
public void InverseViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix.Identity, cameraInstance.View);
Assert.AreEqual(Matrix.Identity, cameraInstance.ViewInverse);
Vector3 position = new Vector3(1, 2, 3);
Vector3 target = new Vector3(2, 5, 4);
Vector3 upVector = new Vector3(1, 1, 1);
Matrix view = Matrix.CreateLookAt(position, target, upVector);
cameraInstance.ViewInverse = view.Inverse;
Assert.IsTrue(Matrix.AreNumericallyEqual(view, cameraInstance.View));
Assert.IsTrue(Matrix.AreNumericallyEqual(view.Inverse, cameraInstance.ViewInverse));
Assert.IsTrue(Matrix.AreNumericallyEqual(view.Inverse, cameraInstance.PoseWorld.ToMatrix()));
}
public void camlist1() //콤보박스 강제로 불러와서 그값으로 실행시키기
{
{
NeptuneDevice iDev = DeviceManager.Instance.GetDeviceFromSerial(m_CamInfo1[1].strSerial);
NeptuneDevice iDev1 = DeviceManager.Instance.GetDeviceFromSerial(m_CamInfo1[0].strSerial);
try
{
Cam1[0] = new CameraInstance(iDev, ENeptuneDevAccess.NEPTUNE_DEV_ACCESS_EXCLUSIVE);
Cam1[1] = new CameraInstance(iDev1, ENeptuneDevAccess.NEPTUNE_DEV_ACCESS_EXCLUSIVE);
}
catch (Exception exp)
{
}
m_Display1[1] = new DisplayImage(pictureBoxDisplay1[1].Handle);
m_Display1[0] = new DisplayImage(pictureBoxDisplay1[0].Handle);
}
}
public void SetProjectionTest()
{
Matrix projectionMatrix = Matrix.CreateOrthographicOffCenter(1, 4, 2, 5, 6, 11);
OrthographicProjection orthographicProjection = new OrthographicProjection();
orthographicProjection.Set(projectionMatrix);
CameraInstance cameraInstance = new CameraInstance(new Camera(orthographicProjection));
Assert.AreEqual(Vector3.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(1f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(6, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(11, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Depth));
Assert.That(Matrix.AreNumericallyEqual(orthographicProjection, cameraInstance.Camera.Projection));
Assert.That(Matrix.AreNumericallyEqual(orthographicProjection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
PerspectiveProjection perspectiveProjection = new PerspectiveProjection();
perspectiveProjection.Inverse = Matrix.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10).Inverse;
cameraInstance = new CameraInstance(new Camera(perspectiveProjection));
Assert.AreEqual(Vector3.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(10, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(9, cameraInstance.Camera.Projection.Depth));
Assert.IsNotNull(cameraInstance.BoundingShape);
}
/// <summary>
/// 启动gb28181摄像头
/// </summary>
/// <param name="cil"></param>
private static void LiveGb28181(CameraInstance cil)
{
try
{
ResponseStruct rs = null !;
var gbRet = CommonApi.LiveVideo(cil.PushMediaServerId,
cil.CameraDeviceLable,
cil.CameraChannelLable, out rs, (bool)cil.IfGb28181Tcp !);
if (gbRet != null && rs.Code == ErrorNumber.None)
{
Logger.Logger.Info("GB28181推流成功->" + cil.CameraId + "->" + cil.CameraDeviceLable + "->" +
cil.CameraChannelLable + "->" + "(TCP:" + cil.IfGb28181Tcp + ")");
CameraSession sessionsub = null !;
lock (Common.CameraSessionLock)
{
sessionsub = Common.CameraSessions.FindLast(x =>
x.App !.Equals(gbRet.App) &&
x.Vhost !.Equals(gbRet.Vhost) &&
x.StreamId !.Equals(gbRet.MediaId)) !;
}
if (sessionsub != null)
{
lock (Common.CameraSessionLock)
{
sessionsub.CameraId = cil.CameraId;
}
}
}
else
{
Logger.Logger.Warn("GB28181推流失败->" + cil.CameraId + "->" + cil.CameraDeviceLable + "->" +
cil.CameraChannelLable + "->" + "(TCP:" + cil.IfGb28181Tcp + ")->" +
JsonHelper.ToJson(rs));
}
}
catch (Exception ex)
{
Logger.Logger.Error("liveGB28181 Except -> " + ex.Message + "->" + ex.StackTrace);
}
}
public void LookAtTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Vector3F position = new Vector3F(1, 2, 3);
Vector3F target = new Vector3F(2, 5, 4);
Vector3F upVector = new Vector3F(1, 1, 1);
cameraInstance.PoseWorld = new Pose(new Vector3F(1, 2, 3));
Matrix44F expected = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(target, upVector);
Assert.That(Matrix44F.AreNumericallyEqual(expected, cameraInstance.View));
position = new Vector3F(-2, 3, -7.5f);
expected = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(position, target, upVector);
Assert.That(Vector3F.AreNumericallyEqual(position, cameraInstance.PoseWorld.Position));
Assert.That(Matrix44F.AreNumericallyEqual(expected, cameraInstance.View));
}
/// <summary>
/// 从注册摄像头列表中获取摄像头实例
/// </summary>
/// <param name="session"></param>
/// <returns></returns>
private static CameraInstance getCameraFromCameraInstance(CameraSession session)
{
lock (Common.CameraInstanceListLock)
{
if (Common.CameraInstanceList != null && Common.CameraInstanceList.Count() > 0)
{
foreach (var camera in Common.CameraInstanceList)
{
if (camera != null && camera.CameraChannelLable.Equals(session.CameraEx.Camera.DeviceID) &&
camera.CameraDeviceLable.Equals(session.CameraEx.Camera.ParentID))
{
CameraInstance tmp = null;
return(JsonHelper.FromJson <CameraInstance>(JsonHelper.ToJson(camera)));
}
}
}
}
return(null);
}
public void LookAtTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Vector3 position = new Vector3(1, 2, 3);
Vector3 target = new Vector3(2, 5, 4);
Vector3 upVector = new Vector3(1, 1, 1);
cameraInstance.PoseWorld = new Pose(new Vector3(1, 2, 3));
Matrix expected = Matrix.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(target, upVector);
Assert.That(Matrix.AreNumericallyEqual(expected, cameraInstance.View));
position = new Vector3(-2, 3, -7.5f);
expected = Matrix.CreateLookAt(position, target, upVector);
cameraInstance.LookAt(position, target, upVector);
Assert.That(Vector3.AreNumericallyEqual(position, cameraInstance.PoseWorld.Position));
Assert.That(Matrix.AreNumericallyEqual(expected, cameraInstance.View));
}
public void ViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix.Identity, cameraInstance.View);
Assert.AreEqual(Matrix.Identity, cameraInstance.ViewInverse);
Vector3 position = new Vector3(1, 2, 3);
Vector3 target = new Vector3(2, 5, 4);
Vector3 upVector = new Vector3(1, 1, 1);
Matrix view = Matrix.CreateLookAt(position, target, upVector);
cameraInstance.View = view;
Assert.AreEqual(view, cameraInstance.View);
Assert.AreEqual(view.Inverse, cameraInstance.ViewInverse);
Vector3 originOfCamera = cameraInstance.PoseWorld.Position;
originOfCamera = cameraInstance.View.TransformPosition(originOfCamera);
Assert.IsTrue(Vector3.AreNumericallyEqual(Vector3.Zero, originOfCamera));
Vector4 positionView = new Vector4(0, 0, -1, 1);
Vector4 positionView2;
// Transform a point from view space to world space.
Vector4 positionWorld = cameraInstance.PoseWorld * positionView;
Vector4 positionWorld2 = cameraInstance.ViewInverse * positionView;
Assert.IsTrue(Vector4.AreNumericallyEqual(positionWorld, positionWorld2));
// Transform a point from world space to view space.
positionView = cameraInstance.PoseWorld.Inverse * positionWorld;
positionView2 = cameraInstance.View * positionWorld;
Assert.IsTrue(Vector4.AreNumericallyEqual(positionView, positionView2));
cameraInstance.View = Matrix.Identity;
Assert.AreEqual(Vector3.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix.Identity, cameraInstance.PoseWorld.Orientation);
}
public void ViewTest()
{
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
Assert.AreEqual(Matrix44F.Identity, cameraInstance.View);
Assert.AreEqual(Matrix44F.Identity, cameraInstance.ViewInverse);
Vector3F position = new Vector3F(1, 2, 3);
Vector3F target = new Vector3F(2, 5, 4);
Vector3F upVector = new Vector3F(1, 1, 1);
Matrix44F view = Matrix44F.CreateLookAt(position, target, upVector);
cameraInstance.View = view;
Assert.AreEqual(view, cameraInstance.View);
Assert.AreEqual(view.Inverse, cameraInstance.ViewInverse);
Vector3F originOfCamera = cameraInstance.PoseWorld.Position;
originOfCamera = cameraInstance.View.TransformPosition(originOfCamera);
Assert.IsTrue(Vector3F.AreNumericallyEqual(Vector3F.Zero, originOfCamera));
Vector4F positionView = new Vector4F(0, 0, -1, 1);
Vector4F positionView2;
// Transform a point from view space to world space.
Vector4F positionWorld = cameraInstance.PoseWorld * positionView;
Vector4F positionWorld2 = cameraInstance.ViewInverse * positionView;
Assert.IsTrue(Vector4F.AreNumericallyEqual(positionWorld, positionWorld2));
// Transform a point from world space to view space.
positionView = cameraInstance.PoseWorld.Inverse * positionWorld;
positionView2 = cameraInstance.View * positionWorld;
Assert.IsTrue(Vector4F.AreNumericallyEqual(positionView, positionView2));
cameraInstance.View = Matrix44F.Identity;
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
}
public void PerspectiveOffCenterTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetOffCenter(1, 5, 2, 5, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(3, 3, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(3, 3, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 2, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9f, 2, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 1.9f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5.1f, 5, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5.1f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 20, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.9f, 20, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 19.9f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50.1f, 50, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50.1f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void OrthographicTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new OrthographicProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((OrthographicProjection)cameraInstance.Camera.Projection).Set(4, 3, 2, 10);
Matrix44F projection = Matrix44F.CreateOrthographic(4, 3, 2, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(-2, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(-1.5f, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(1.5f, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(8, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(-2, -1.5f, -2);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-2.1f, -1.6f, -1.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2, 1.5f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2.1f, 1.6f, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
cameraInstance.PoseWorld = new Pose(position, orientation);
((OrthographicProjection)cameraInstance.Camera.Projection).Set(8, 4, 1, 100);
cameraInstance.Camera.Projection.Near = 1;
cameraInstance.Camera.Projection.Far = 100;
projection = Matrix44F.CreateOrthographic(8, 4, 1, 100);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3F(-4, -2f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-4.1f, -1.9f, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4, 2f, -100);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4.1f, 2.1f, -100.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void OrthographicTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new OrthographicProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((OrthographicProjection)cameraInstance.Camera.Projection).Set(4, 3, 2, 10);
Matrix44F projection = Matrix44F.CreateOrthographic(4, 3, 2, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(-2, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(-1.5f, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(1.5f, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(8, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(-2, -1.5f, -2);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-2.1f, -1.6f, -1.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2, 1.5f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(2.1f, 1.6f, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
cameraInstance.PoseWorld = new Pose(position, orientation);
((OrthographicProjection)cameraInstance.Camera.Projection).Set(8, 4, 1, 100);
cameraInstance.Camera.Projection.Near = 1;
cameraInstance.Camera.Projection.Far = 100;
projection = Matrix44F.CreateOrthographic(8, 4, 1, 100);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3F(-4, -2f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-4.1f, -1.9f, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4, 2f, -100);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(4.1f, 2.1f, -100.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void SetProjectionTest()
{
Matrix44F projectionMatrix = Matrix44F.CreateOrthographicOffCenter(1, 4, 2, 5, 6, 11);
OrthographicProjection orthographicProjection = new OrthographicProjection();
orthographicProjection.Set(projectionMatrix);
CameraInstance cameraInstance = new CameraInstance(new Camera(orthographicProjection));
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(1f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(6, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(11, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Depth));
Assert.That(Matrix44F.AreNumericallyEqual(orthographicProjection, cameraInstance.Camera.Projection));
Assert.That(Matrix44F.AreNumericallyEqual(orthographicProjection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
PerspectiveProjection perspectiveProjection = new PerspectiveProjection();
perspectiveProjection.Inverse = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10).Inverse;
cameraInstance = new CameraInstance(new Camera(perspectiveProjection));
Assert.AreEqual(Vector3F.Zero, cameraInstance.PoseWorld.Position);
Assert.AreEqual(Matrix33F.Identity, cameraInstance.PoseWorld.Orientation);
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.That(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.That(Numeric.AreEqual(4, cameraInstance.Camera.Projection.Width));
Assert.That(Numeric.AreEqual(3, cameraInstance.Camera.Projection.Height));
Assert.That(Numeric.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Left));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Right));
Assert.That(Numeric.AreEqual(2, cameraInstance.Camera.Projection.Bottom));
Assert.That(Numeric.AreEqual(5, cameraInstance.Camera.Projection.Top));
Assert.That(Numeric.AreEqual(1, cameraInstance.Camera.Projection.Near));
Assert.That(Numeric.AreEqual(10, cameraInstance.Camera.Projection.Far));
Assert.That(Numeric.AreEqual(9, cameraInstance.Camera.Projection.Depth));
Assert.IsNotNull(cameraInstance.BoundingShape);
}
public void PerspectiveTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(MathHelper.ToRadians(60), cameraInstance.Camera.Projection.FieldOfViewY);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(85.4601055f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.AreEqual(16.0f / 10.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.IsTrue(Numeric.AreEqual(1.8475209f, cameraInstance.Camera.Projection.Width));
Assert.IsTrue(Numeric.AreEqual(1.1547005f, cameraInstance.Camera.Projection.Height));
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.IsTrue(Numeric.AreEqual(-0.9237604f, cameraInstance.Camera.Projection.Left));
Assert.IsTrue(Numeric.AreEqual(0.9237604f, cameraInstance.Camera.Projection.Right));
Assert.IsTrue(Numeric.AreEqual(-0.5773503f, cameraInstance.Camera.Projection.Bottom));
Assert.IsTrue(Numeric.AreEqual(0.5773503f, cameraInstance.Camera.Projection.Top));
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(0, 0, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.924f, -0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.924f, 0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.24f, -5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.24f, 5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void PerspectiveOffCenterTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetOffCenter(1, 5, 2, 5, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveOffCenter(1, 5, 2, 5, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(33.690067f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(15.255119f), cameraInstance.Camera.Projection.FieldOfViewY));
Assert.AreEqual(4.0f / 3.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(4, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(3, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(5, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(3, 3, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(3, 3, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(30, 30, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 2, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9f, 2, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(1, 1.9f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5.1f, 5, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(5, 5.1f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 20, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.9f, 20, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(10, 19.9f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50.1f, 50, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(50, 50.1f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void ShapeChangedTest()
{
bool shapeChanged = false;
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()));
cameraInstance.BoundingShapeChanged += (sender, eventArgs) => shapeChanged = true;
cameraInstance.Camera.Projection.Far = 9;
Assert.IsTrue(shapeChanged);
}
/// <summary>
/// 启动摄像头
/// </summary>
/// <param name="cil"></param>
private static void liveCamera(CameraInstance cil)
{
try
{
CameraSession cameraSession = null !;
if (cil != null && cil.EnableLive)
{
cameraSession = GetCameraCurrentSession(cil);
if (cameraSession == null || (cameraSession != null && cameraSession.IsOnline == false)
) //camera没有，或者isonline是false要推流
{
CameraType ctype = cameraSession != null ? cameraSession.CameraType : cil.CameraType;
switch (ctype)
{
case CameraType.Rtsp:
liveRtsp(cil);
break;
case CameraType.GB28181:
bool found = false;
lock (Common.SipProcess.SipDeviceLock)
{
var dev = Common.SipProcess.SipDeviceList.FindLast(x =>
x.DeviceId.Equals(cil.CameraDeviceLable));
if (dev != null && dev.CameraExList != null && dev.CameraExList.Count > 0)
{
var camera = dev.CameraExList.FindLast(x =>
x.Camera != null && x.Camera.DeviceID.Equals(cil.CameraChannelLable));
if (camera != null)
{
found = true;
}
}
}
if (found)
{
LiveGb28181(cil);
}
break;
}
}
else if (cameraSession != null && string.IsNullOrEmpty(cameraSession.CameraId) &&
cameraSession.IsOnline == true
) //当camera不为空，但camera.cameraid为空时，不需要重新推，但要补全这个id
{
CameraSession sessionsub = null !;
lock (Common.CameraSessionLock)
{
sessionsub = Common.CameraSessions.FindLast(x =>
x.App !.Equals(cameraSession.App) &&
x.Vhost !.Equals(cameraSession.Vhost) &&
x.StreamId !.Equals(cameraSession.StreamId)) !;
}
if (sessionsub != null)
{
lock (Common.CameraSessionLock)
{
cameraSession.CameraId = cil.CameraId;
}
}
}
}
}
catch (Exception ex)
{
Logger.Logger.Error("liveCamera Except -> " + ex.Message + "->" + ex.StackTrace);
}
}
public void OrthographicOffCenterTest()
{
Vector3 position = new Vector3(1, 2, 3);
Quaternion orientation = Quaternion.CreateFromRotationMatrix(new Vector3(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new OrthographicProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((OrthographicProjection)cameraInstance.Camera.Projection).SetOffCenter(0, 16, 0, 9, 2, 10);
Matrix projection = Matrix.CreateOrthographicOffCenter(0, 16, 0, 9, 2, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(16, cameraInstance.Camera.Projection.Width);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Height);
Assert.AreEqual(16.0f / 9.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.AreEqual(2, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.AreEqual(0, cameraInstance.Camera.Projection.Left);
Assert.AreEqual(16, cameraInstance.Camera.Projection.Right);
Assert.AreEqual(0, cameraInstance.Camera.Projection.Bottom);
Assert.AreEqual(9, cameraInstance.Camera.Projection.Top);
Assert.AreEqual(8, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3(0, 0, -2);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(-0.1f, -0.1f, -1.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(16, 9, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(16.1f, 9.1f, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
cameraInstance.Camera.Projection.Left = -2;
cameraInstance.Camera.Projection.Right = 4;
cameraInstance.Camera.Projection.Bottom = 10;
cameraInstance.Camera.Projection.Top = 14;
cameraInstance.Camera.Projection.Near = 15;
cameraInstance.Camera.Projection.Far = 100;
projection = Matrix.CreateOrthographicOffCenter(-2, 4, 10, 14, 15, 100);
Assert.IsTrue(Matrix.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsTrue(Matrix.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
point.Position = position + new Vector3(-2, 10, -15);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(-2.1f, -10.1f, -14.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(4, 14, -100);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3(4.1f, 14.1f, -100.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
public void PerspectiveTest()
{
Vector3F position = new Vector3F(1, 2, 3);
QuaternionF orientation = QuaternionF.CreateRotation(new Vector3F(2, 3, 6), 0.123f);
CameraInstance cameraInstance = new CameraInstance(new Camera(new PerspectiveProjection()))
{
PoseLocal = new Pose(position, orientation),
};
((PerspectiveProjection)cameraInstance.Camera.Projection).SetFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Matrix44F projection = Matrix44F.CreatePerspectiveFieldOfView(MathHelper.ToRadians(60), 16.0f / 10.0f, 1, 10);
Assert.AreEqual(position, cameraInstance.PoseWorld.Position);
Assert.AreEqual(orientation.ToRotationMatrix33(), cameraInstance.PoseWorld.Orientation);
Assert.AreEqual(MathHelper.ToRadians(60), cameraInstance.Camera.Projection.FieldOfViewY);
Assert.IsTrue(Numeric.AreEqual(MathHelper.ToRadians(85.4601055f), cameraInstance.Camera.Projection.FieldOfViewX));
Assert.AreEqual(16.0f / 10.0f, cameraInstance.Camera.Projection.AspectRatio);
Assert.IsTrue(Numeric.AreEqual(1.8475209f, cameraInstance.Camera.Projection.Width));
Assert.IsTrue(Numeric.AreEqual(1.1547005f, cameraInstance.Camera.Projection.Height));
Assert.AreEqual(1, cameraInstance.Camera.Projection.Near);
Assert.AreEqual(10, cameraInstance.Camera.Projection.Far);
Assert.IsTrue(Numeric.AreEqual(-0.9237604f, cameraInstance.Camera.Projection.Left));
Assert.IsTrue(Numeric.AreEqual(0.9237604f, cameraInstance.Camera.Projection.Right));
Assert.IsTrue(Numeric.AreEqual(-0.5773503f, cameraInstance.Camera.Projection.Bottom));
Assert.IsTrue(Numeric.AreEqual(0.5773503f, cameraInstance.Camera.Projection.Top));
Assert.AreEqual(9, cameraInstance.Camera.Projection.Depth);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection, cameraInstance.Camera.Projection));
Assert.IsTrue(Matrix44F.AreNumericallyEqual(projection.Inverse, cameraInstance.Camera.Projection.Inverse));
Assert.IsNotNull(cameraInstance.BoundingShape);
// Test shape using collision detection. Remove rotation to simplify test.
cameraInstance.PoseWorld = new Pose(cameraInstance.PoseWorld.Position);
CollisionDetection collisionDetection = new CollisionDetection();
var point = new PointShape();
CollisionObject pointCollisionObject = new CollisionObject(new GeometricObject(point));
CollisionObject cameraCollisionObject = new CollisionObject(cameraInstance);
point.Position = position + new Vector3F(0, 0, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -0.9f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0, 0, -10.1f);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.924f, -0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-0.9237604f, -0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.5773f, -1);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.924f, 0.5773f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(0.9237604f, 0.58f, -1);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.24f, -5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(-9.237604f, -5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.773f, -10);
Assert.IsTrue(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.24f, 5.773f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
point.Position = position + new Vector3F(9.237604f, 5.8f, -10);
Assert.IsFalse(collisionDetection.HaveContact(pointCollisionObject, cameraCollisionObject));
}
private void Run()
{
int i = 0;
while (true)
{
try
{
i++;
if (Common.MediaServerList == null || Common.MediaServerList.Count <= 0)
{
Thread.Sleep(5000);
continue;
}
foreach (var mediaServer in Common.MediaServerList)
{
if (mediaServer != null && mediaServer.IsRunning)
{
if (i % 50 == 0)
{
mediaServer.ClearNoFileDir(out _); //清除空目录
}
ReqGetDvrPlan rgdp = new ReqGetDvrPlan();
rgdp.MediaServerId = mediaServer.MediaServerId;
var dvrPlanList = DvrPlanApis.GetDvrPlanList(rgdp, out ResponseStruct rs);
if (dvrPlanList == null || dvrPlanList.Count == 0)
{
continue;
}
foreach (var dvrPlan in dvrPlanList)
{
if (dvrPlan == null || dvrPlan.Enable == false)
{
var ret = getDvrOnorOff(
dvrPlan); //如果录制计划为停止状态，在处理下一个计划任务前要查看该录制计划是否正在执行，正在扫行的话，要停掉它
if (ret)
{
setDvrOnorOff(dvrPlan, false);
}
continue;
}
CameraInstance camera = null;
lock (Common.CameraInstanceList)
{
camera =
Common.CameraInstanceList.FindLast(x =>
x.CameraId.Equals(dvrPlan.CameraId));
}
if (camera != null)
{
ExecDelete(dvrPlan);
if (camera.EnableLive &&
getCameraSessionStatus(camera.PushMediaServerId, camera.CameraId))
{
execOnOrOff(dvrPlan);
}
}
Thread.Sleep(2000);
}
}
}
Thread.Sleep(5000);
}
catch (Exception ex)
{
Console.WriteLine("报错了：\r\n" + ex.Message + "\r\n" + ex.StackTrace);
continue;
}
}
}
/// <summary>
/// 启动rtsp摄像头
/// </summary>
/// <param name="cil"></param>
private static void liveRtsp(CameraInstance cil)
{
try
{
ResponseStruct rs = null !;
var mediaObj =
Common.MediaServerList.FindLast(x => x.MediaServerId.Equals(cil.PushMediaServerId));
if (mediaObj == null || mediaObj.IsRunning == false)
{
return;
}
bool useFFmpeg = true;
if (cil.RetryTimes < 2)
{
//rtsp方式，先跳过三次，因为zlmediakit会自动维护掉线的ffmpeg,要延迟处理一下，不然会重复创建ffmpeg
cil.RetryTimes++;
return;
}
cil.RetryTimes = 0;
ResZLMediaKitAddFFmpegProxy ret = null !;
if (useFFmpeg)
{
ret = MediaServerApis.AddFFmpegProxy(
mediaObj.MediaServerId,
cil.IfRtspUrl, out rs);
}
else
{
ret = MediaServerApis.AddStreamProxy(mediaObj.MediaServerId,
cil.IfRtspUrl, out rs);
}
if (ret != null && rs.Code == ErrorNumber.None)
{
Logger.Logger.Info("Rtsp推流成功->" + cil.CameraId + "->" + cil.IfRtspUrl);
CameraSession sessionsub = null !;
lock (Common.CameraSessionLock)
{
sessionsub = Common.CameraSessions.FindLast(x =>
x.App !.Equals(ret.App) &&
x.Vhost !.Equals(ret.Vhost) &&
x.StreamId !.Equals(ret.StreamId)) !;
}
if (sessionsub != null)
{
lock (Common.CameraSessionLock)
{
sessionsub.CameraId = cil.CameraId;
}
}
}
else
{
Logger.Logger.Warn(
"Rtsp推流失败->" + cil.CameraId + "->" + cil.IfRtspUrl + "->" + JsonHelper.ToJson(rs));
}
}
catch (Exception ex)
{
Logger.Logger.Error("liveRtsp Except ->" + ex.Message + "->" + ex.StackTrace);
}
}
