海康相机 像素坐标(px,py)到sdk ptz 坐标转换最后到onvif ptz坐标

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基于当前相机PTZ位置的相对定位坐标计算   // ONVIF 坐标转为 SDK 坐标     public Map<String, Double> ONvifFPtzToSdk(Map<String, Float> posOnvif) {         Map<String, Double> posSdk = new HashMap<>();         double panSdk = Math.min(180 * posOnvif.get("pan") + 180, 360);         double tiltSdk = 45 * posOnvif.get("tilt") + 45;         double zoomSdk = 3 * posOnvif.get("zoom") + 1;         posSdk.put("pan", panSdk);         posSdk.put("tilt", tiltSdk);         posSdk.put("zoom", zoomSdk);         return posSdk;     }       // SDK 坐标转为 ONVIF 坐标     public Map<String, Float> SDKPtzToOnvif(Map<String, Double> posSdk) {         Map<String, Float> posOnvif = new HashMap<>();         float panOnvif = (float) ((posSdk.get("pan") - 180) / 180);         float tiltOnvif = (float) ((posSdk.get("tilt") - 45) / 45);         float zoomOnvif = (float) ((posSdk.get("zoom") - 1) / 3);         posOnvif.put("pan", panOnvif);         posOnvif.put("tilt", tiltOnvif);         posOnvif.put("zoom", zoomOnvif);         return posOnvif;     }     /****      *      * @param targetX 像素坐标      * @param targetY 像素坐标      * @param posOnvif      * @return      */     public Map<String, Float> locate(int targetX, int targetY,  Map<String, Float>  posOnvif) {         // 将 ONVIF 坐标转换为 SDK 坐标         Map<String, Double> posSdk = ONvifFPtzToSdk(posOnvif);         //Map<String, Double> posOnvif  onvif 获取当前状态下的 ptz 坐标         // 直接使用 posOnvif 来计算 SDK 坐标         // 水平视场角（参照《视场角相关计算》，通过相机标定，获取像素焦）         double fovH = 37.75;           double fovV = 21.80; // 垂直视场角         int width = 2560;    // 图像宽度         int height = 1440;   // 图像高度           // 计算水平方向的偏移量 deltX         double deltX = 0;         if (targetX > (width / 2)) {             deltX = Math.toDegrees(Math.atan((targetX - width / 2) / (width / 2) * Math.tan(Math.toRadians(fovH / 2))));         } else {             deltX = -Math.toDegrees(Math.atan((width / 2 - targetX) / (width / 2) * Math.tan(Math.toRadians(fovH / 2))));         }           // 计算垂直方向的偏移量 deltY         double deltY = 0;         if (targetY > (height / 2)) {             deltY = Math.toDegrees(Math.atan((targetY - height / 2) / (height / 2) * Math.tan(Math.toRadians(fovV / 2))));         } else {             deltY = -Math.toDegrees(Math.atan((height / 2 - targetY) / (height / 2) * Math.tan(Math.toRadians(fovV / 2))));         }           // 更新 SDK 的 PTZ 坐标         posSdk.put("pan", posSdk.get("pan") + deltX);         posSdk.put("tilt", posSdk.get("tilt") - deltY); // 注意：SDK 是倒置的，所以需要减去 deltY                   // 将 SDK 坐标转换回 ONVIF 坐标         return SDKPtzToOnvif(posSdk);     }