From 1e23856b0a58f31d726fbfd14d0461361312d066 Mon Sep 17 00:00:00 2001 From: feie9456 Date: Tue, 26 Aug 2025 10:27:54 +0800 Subject: [PATCH] first commit --- .gitignore | 115 +++++ optc-tracker.xcodeproj/project.pbxproj | 28 +- optc-tracker/CameraManager.swift | 470 ++++++++++++++++++ optc-tracker/ContentView.swift | 154 +++++- optc-tracker/CrossDetection.swift | 23 + optc-tracker/DebugView.swift | 67 +++ optc-tracker/MotionManager.swift | 63 +++ optc-tracker/PipelineDebugView.swift | 95 ++++ optc-tracker/PreviewView.swift | 120 +++++ optc-tracker/TeleFocusDemoApp.swift | 21 + optc-tracker/optc_trackerApp.swift | 17 - optc-trackerTests/optc_trackerTests.swift | 17 - optc-trackerUITests/optc_trackerUITests.swift | 41 -- .../optc_trackerUITestsLaunchTests.swift | 33 -- 14 files changed, 1128 insertions(+), 136 deletions(-) create mode 100644 .gitignore create mode 100644 optc-tracker/CameraManager.swift create mode 100644 optc-tracker/CrossDetection.swift create mode 100644 optc-tracker/DebugView.swift create mode 100644 optc-tracker/MotionManager.swift create mode 100644 optc-tracker/PipelineDebugView.swift create mode 100644 optc-tracker/PreviewView.swift create mode 100644 optc-tracker/TeleFocusDemoApp.swift delete mode 100644 optc-tracker/optc_trackerApp.swift delete mode 100644 optc-trackerTests/optc_trackerTests.swift delete mode 100644 optc-trackerUITests/optc_trackerUITests.swift delete mode 100644 optc-trackerUITests/optc_trackerUITestsLaunchTests.swift diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..fd8d68e --- /dev/null +++ b/.gitignore @@ -0,0 +1,115 @@ +# Xcode +# +# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore + +## User settings +xcuserdata/ + +## compatibility with Xcode 8 and earlier (ignoring not required starting Xcode 9) +*.xcscmblueprint +*.xccheckout + +## compatibility with Xcode 3 and earlier (ignoring not required starting Xcode 4) +build/ +DerivedData/ +*.moved-aside +*.pbxuser +!default.pbxuser +*.mode1v3 +!default.mode1v3 +*.mode2v3 +!default.mode2v3 +*.perspectivev3 +!default.perspectivev3 + +## Obj-C/Swift specific +*.hmap + +## App packaging +*.ipa +*.dSYM.zip +*.dSYM + +## Playgrounds +timeline.xctimeline +playground.xcworkspace + +# Swift Package Manager +# +# Add this line if you want to avoid checking in source code from Swift Package Manager dependencies. +# Packages/ +# Package.pins +# Package.resolved +# *.xcodeproj +# +# Xcode automatically generates this directory with a .xcworkspacedata file and xcuserdata dir, do not check in +.swiftpm/xcode/package.xcworkspace/contents.xcworkspacedata +.swiftpm/xcode + +# CocoaPods +# +# We recommend against adding the Pods directory to your .gitignore. However +# you should judge for yourself, the pros and cons are mentioned at: +# https://guides.cocoapods.org/using/using-cocoapods.html#should-i-check-the-pods-directory-into-source-control +# +# Pods/ +# +# Add this line if you want to avoid checking in source code from the Xcode workspace +# *.xcworkspace + +# Carthage +# +# Add this line if you want to avoid checking in source code from Carthage dependencies. +# Carthage/Checkouts + +Carthage/Build/ + +# Accio dependency management +Dependencies/ +.accio/ + +# fastlane +# +# It is recommended to not store the screenshots in the git repo. +# Instead, use fastlane to re-generate the screenshots whenever they are needed. +# For more information about the recommended setup visit: +# https://docs.fastlane.tools/best-practices/source-control/ + +fastlane/report.xml +fastlane/Preview.html +fastlane/screenshots/**/*.png +fastlane/test_output + +# Code Injection +# +# After new code Injection tools there's a generated folder /iOSInjectionProject +# https://github.com/johnno1962/injectionforxcode + +iOSInjectionProject/ + +# macOS specific +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk diff --git a/optc-tracker.xcodeproj/project.pbxproj b/optc-tracker.xcodeproj/project.pbxproj index 4f92e30..58b76f5 100644 --- a/optc-tracker.xcodeproj/project.pbxproj +++ b/optc-tracker.xcodeproj/project.pbxproj @@ -35,16 +35,6 @@ path = "optc-tracker"; sourceTree = ""; }; - 0C81B91E2E56A6CD004CD96D /* optc-trackerTests */ = { - isa = PBXFileSystemSynchronizedRootGroup; - path = "optc-trackerTests"; - sourceTree = ""; - }; - 0C81B9282E56A6CD004CD96D /* optc-trackerUITests */ = { - isa = PBXFileSystemSynchronizedRootGroup; - path = "optc-trackerUITests"; - sourceTree = ""; - }; /* End PBXFileSystemSynchronizedRootGroup section */ /* Begin PBXFrameworksBuildPhase section */ @@ -76,8 +66,6 @@ isa = PBXGroup; children = ( 0C81B9102E56A6CC004CD96D /* optc-tracker */, - 0C81B91E2E56A6CD004CD96D /* optc-trackerTests */, - 0C81B9282E56A6CD004CD96D /* optc-trackerUITests */, 0C81B90F2E56A6CC004CD96D /* Products */, ); sourceTree = ""; @@ -130,9 +118,6 @@ dependencies = ( 0C81B91D2E56A6CD004CD96D /* PBXTargetDependency */, ); - fileSystemSynchronizedGroups = ( - 0C81B91E2E56A6CD004CD96D /* optc-trackerTests */, - ); name = "optc-trackerTests"; packageProductDependencies = ( ); @@ -153,9 +138,6 @@ dependencies = ( 0C81B9272E56A6CD004CD96D /* PBXTargetDependency */, ); - fileSystemSynchronizedGroups = ( - 0C81B9282E56A6CD004CD96D /* optc-trackerUITests */, - ); name = "optc-trackerUITests"; packageProductDependencies = ( ); @@ -175,6 +157,7 @@ TargetAttributes = { 0C81B90D2E56A6CC004CD96D = { CreatedOnToolsVersion = 16.4; + LastSwiftMigration = 1640; }; 0C81B91A2E56A6CD004CD96D = { CreatedOnToolsVersion = 16.4; @@ -393,10 +376,13 @@ buildSettings = { ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor; + CLANG_ENABLE_MODULES = YES; CODE_SIGN_STYLE = Automatic; CURRENT_PROJECT_VERSION = 1; + DEVELOPMENT_TEAM = 4AF7VXQ923; ENABLE_PREVIEWS = YES; GENERATE_INFOPLIST_FILE = YES; + INFOPLIST_KEY_NSCameraUsageDescription = "需要获取摄像头权限以进行实验"; INFOPLIST_KEY_UIApplicationSceneManifest_Generation = YES; INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; INFOPLIST_KEY_UILaunchScreen_Generation = YES; @@ -410,6 +396,8 @@ PRODUCT_BUNDLE_IDENTIFIER = "feietech.optc-tracker"; PRODUCT_NAME = "$(TARGET_NAME)"; SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_OBJC_BRIDGING_HEADER = ""; + SWIFT_OPTIMIZATION_LEVEL = "-Onone"; SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; @@ -420,10 +408,13 @@ buildSettings = { ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor; + CLANG_ENABLE_MODULES = YES; CODE_SIGN_STYLE = Automatic; CURRENT_PROJECT_VERSION = 1; + DEVELOPMENT_TEAM = 4AF7VXQ923; ENABLE_PREVIEWS = YES; GENERATE_INFOPLIST_FILE = YES; + INFOPLIST_KEY_NSCameraUsageDescription = "需要获取摄像头权限以进行实验"; INFOPLIST_KEY_UIApplicationSceneManifest_Generation = YES; INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; INFOPLIST_KEY_UILaunchScreen_Generation = YES; @@ -437,6 +428,7 @@ PRODUCT_BUNDLE_IDENTIFIER = "feietech.optc-tracker"; PRODUCT_NAME = "$(TARGET_NAME)"; SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_OBJC_BRIDGING_HEADER = ""; SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; diff --git a/optc-tracker/CameraManager.swift b/optc-tracker/CameraManager.swift new file mode 100644 index 0000000..fa54963 --- /dev/null +++ b/optc-tracker/CameraManager.swift @@ -0,0 +1,470 @@ +// +// optc-tracker +// +// Created by feie9454 on 2025/8/21. +// + +import Foundation +import AVFoundation +import UIKit +import Combine +import CoreImage + +// GreenDetection 统一定义在 CrossDetection.swift 中 + +// MARK: - 调试结构 +struct DebugStage: Identifiable { + let id = UUID() + let name: String + let image: UIImage + let info: String? +} + +// MARK: - 连通域统计 +private struct ComponentStats { + var minX: Int, minY: Int, maxX: Int, maxY: Int + var sumX: Int, sumY: Int, count: Int + var touchesBorder: Bool +} + +final class CameraManager: NSObject, ObservableObject { + let session = AVCaptureSession() + + @Published var currentLensPosition: Float = 0.80 + @Published var currentZoomFactor: CGFloat = 1.0 + @Published var greenRegion: GreenDetection? = nil + @Published var debugImage: UIImage? = nil + @Published var debugStages: [DebugStage] = [] + var debugEnabled: Bool = true + + let targetLensPositionForHalfMeter: Float = 0.80 + + private var device: AVCaptureDevice? + private let sessionQueue = DispatchQueue(label: "camera.session.queue") + private let videoOutput = AVCaptureVideoDataOutput() + private let videoOutputQueue = DispatchQueue(label: "camera.video.output") + + private let ciContext = CIContext(options: [.useSoftwareRenderer: false]) + private var lastDetectionTime: CFTimeInterval = 0 + private let detectionInterval: CFTimeInterval = 0.10 + + override init() { + super.init() + checkPermissionAndConfigure() + } + + private func checkPermissionAndConfigure() { + switch AVCaptureDevice.authorizationStatus(for: .video) { + case .authorized: + configureSession() + case .notDetermined: + AVCaptureDevice.requestAccess(for: .video) { [weak self] granted in + guard let self = self else { return } + if granted { self.configureSession() } + } + default: + print("Camera permission denied or restricted.") + } + } + + private func configureSession() { + sessionQueue.async { [weak self] in + guard let self = self else { return } + self.session.beginConfiguration() + self.session.sessionPreset = .high + + var selected: AVCaptureDevice? + if let wide = AVCaptureDevice.default(.builtInWideAngleCamera, for: .video, position: .back) { + selected = wide + } else if let ultra = AVCaptureDevice.default(.builtInUltraWideCamera, for: .video, position: .back) { + selected = ultra + } + guard let device = selected else { + print("No back camera available.") + self.session.commitConfiguration() + return + } + self.device = device + + do { + let input = try AVCaptureDeviceInput(device: device) + if self.session.canAddInput(input) { self.session.addInput(input) } + } catch { + print("Failed to create device input: \(error)") + } + + self.videoOutput.alwaysDiscardsLateVideoFrames = true + self.videoOutput.setSampleBufferDelegate(self, queue: self.videoOutputQueue) + self.videoOutput.videoSettings = [ + kCVPixelBufferPixelFormatTypeKey as String: kCVPixelFormatType_32BGRA + ] + if self.session.canAddOutput(self.videoOutput) { self.session.addOutput(self.videoOutput) } + if let connection = self.videoOutput.connection(with: .video) { + connection.videoOrientation = .portrait + } + + self.session.commitConfiguration() + self.start() + self.lockFocus(to: self.targetLensPositionForHalfMeter) + } + } + + func start() { + sessionQueue.async { [weak self] in + guard let self = self, !self.session.isRunning else { return } + self.session.startRunning() + } + } + + func stop() { + sessionQueue.async { [weak self] in + guard let self = self, self.session.isRunning else { return } + self.session.stopRunning() + } + } + + func lockFocus(to lensPos: Float) { + sessionQueue.async { [weak self] in + guard let self = self, let device = self.device else { return } + do { + try device.lockForConfiguration() + let clamped = max(0.0, min(lensPos, 1.0)) + + if device.isFocusModeSupported(.locked), + device.isLockingFocusWithCustomLensPositionSupported { + + if device.isAutoFocusRangeRestrictionSupported { + device.autoFocusRangeRestriction = .near + } + + device.setFocusModeLocked(lensPosition: clamped) { [weak self] _ in + device.unlockForConfiguration() + DispatchQueue.main.async { + self?.currentLensPosition = clamped + } + } + } else { + if device.isFocusModeSupported(.continuousAutoFocus) { + device.focusMode = .continuousAutoFocus + } + device.unlockForConfiguration() + } + } catch { + print("lockForConfiguration failed: \(error)") + } + } + } + + func setZoomTo(_ factor: CGFloat) { + sessionQueue.async { [weak self] in + guard let self = self, let device = self.device else { return } + do { + try device.lockForConfiguration() + let f = min(max(factor, device.minAvailableVideoZoomFactor), device.maxAvailableVideoZoomFactor) + device.videoZoomFactor = f + device.unlockForConfiguration() + DispatchQueue.main.async { self.currentZoomFactor = f } + } catch { + print("Failed to set zoom: \(error)") + } + } + } + + var maxZoomFactor: CGFloat { device?.maxAvailableVideoZoomFactor ?? 1.0 } + var minZoomFactor: CGFloat { device?.minAvailableVideoZoomFactor ?? 1.0 } +} + +// MARK: - 帧回调 +extension CameraManager: AVCaptureVideoDataOutputSampleBufferDelegate { + func captureOutput(_ output: AVCaptureOutput, didOutput sampleBuffer: CMSampleBuffer, from connection: AVCaptureConnection) { + let now = CACurrentMediaTime() + guard now - lastDetectionTime >= detectionInterval else { return } + lastDetectionTime = now + + guard let pixelBuffer = CMSampleBufferGetImageBuffer(sampleBuffer) else { return } + let ciImage = CIImage(cvPixelBuffer: pixelBuffer) + detectEdgesKeepingOnlyGreen(in: ciImage) + } +} + +// MARK: - 核心：只保留绿色较强的 edge +private extension CameraManager { + func detectEdgesKeepingOnlyGreen(in image: CIImage) { + // 缩放到 <=640 的较小边，兼顾速度与稳定 + let targetMax: CGFloat = 640 + let scale = min(1.0, targetMax / max(image.extent.width, image.extent.height)) + let scaled = image.transformed(by: CGAffineTransform(scaleX: scale, y: scale)) + + var stages: [DebugStage] = [] + if debugEnabled, let cg0 = ciContext.createCGImage(scaled, from: scaled.extent) { + stages.append(DebugStage(name: "0 Scaled", image: UIImage(cgImage: cg0), info: nil)) + } + + // (1) 边缘图（灰度） + let edgesCI = scaled.applyingFilter("CIEdges", parameters: [kCIInputIntensityKey: 1.2]) + guard let cgEdges = ciContext.createCGImage(edgesCI, from: edgesCI.extent) else { return } + if debugEnabled { stages.append(DebugStage(name: "1 Edges", image: UIImage(cgImage: cgEdges), info: nil)) } + + // (2) 原始彩色图 + guard let cgColor = ciContext.createCGImage(scaled, from: scaled.extent) else { return } + + // 拉到 CPU + let w = cgEdges.width, h = cgEdges.height + let rowBytes = w * 4 + + var rawEdges = [UInt8](repeating: 0, count: rowBytes * h) + if let ctx = CGContext(data: &rawEdges, width: w, height: h, bitsPerComponent: 8, bytesPerRow: rowBytes, + space: CGColorSpaceCreateDeviceRGB(), + bitmapInfo: CGImageAlphaInfo.premultipliedLast.rawValue) { + ctx.draw(cgEdges, in: CGRect(x: 0, y: 0, width: w, height: h)) + } else { return } + + var rawRGB = [UInt8](repeating: 0, count: rowBytes * h) + if let ctx2 = CGContext(data: &rawRGB, width: w, height: h, bitsPerComponent: 8, bytesPerRow: rowBytes, + space: CGColorSpaceCreateDeviceRGB(), + bitmapInfo: CGImageAlphaInfo.premultipliedLast.rawValue) { + ctx2.draw(cgColor, in: CGRect(x: 0, y: 0, width: w, height: h)) + } else { return } + + // (3) 计算边缘阈值（90% 分位） + let thresh = percentileThresholdFromGray(rawEdges: rawEdges, w: w, h: h, rowBytes: rowBytes, percentile: 0.90) + + // (4) 构造 "绿色强 edge" 的 finalMask + var finalMask = [UInt8](repeating: 0, count: w * h) // 0/1 + var strongCount = 0 + + var idxE = 0 + var idxC = 0 + for y in 0..= thresh { + let b = rawRGB[idxC + 0] + let g = rawRGB[idxC + 1] + let r = rawRGB[idxC + 2] + if isStrongGreen(r: r, g: g, b: b) { + finalMask[o] = 1 + strongCount += 1 + } + } + o += 1 + idxE += 4 + idxC += 4 + } + } + + // (5) 可选：如果绿色 edge 太稀疏，可以轻微膨胀一次连通性 + // 这里留空，如需要可添加 3x3 膨胀 + + // (6) 连通域：忽略触边，选最大 + let minAreaRatio: CGFloat = 0.0004 + let minAreaPixels = max(20, Int(CGFloat(w*h) * minAreaRatio)) + guard let comp = largestComponent(in: &finalMask, w: w, h: h, + ignoreBorderTouching: true, + borderMargin: 0, + minArea: minAreaPixels) else { + DispatchQueue.main.async { [weak self] in + self?.greenRegion = nil + if self?.debugEnabled == true { self?.debugStages = stages } + } + return + } + + // (7) 回到原图坐标（归一化） + let inv = 1 / scale + let fullW = image.extent.width + let fullH = image.extent.height + + let cx = CGFloat(comp.sumX) / CGFloat(comp.count) + let cy = CGFloat(comp.sumY) / CGFloat(comp.count) + + let center = CGPoint(x: (cx * inv) / fullW, y: (cy * inv) / fullH) + let box = CGRect(x: (CGFloat(comp.minX) * inv) / fullW, + y: (CGFloat(comp.minY) * inv) / fullH, + width: (CGFloat(comp.maxX - comp.minX + 1) * inv) / fullW, + height: (CGFloat(comp.maxY - comp.minY + 1) * inv) / fullH) + let areaRatio = CGFloat(comp.count) * inv * inv / (fullW * fullH) + let detection = GreenDetection(boundingBox: box, center: center, + areaRatio: areaRatio, + offsetX: center.x - 0.5, offsetY: center.y - 0.5) + + // (8) 调试输出：只显示“绿色 edge”与最大连通域 + DispatchQueue.main.async { [weak self] in + self?.greenRegion = detection + if let self = self, self.debugEnabled { + if let greenEdgeImg = binaryMaskToImage(mask: finalMask, w: w, h: h, box: nil) { + stages.append(DebugStage(name: "2 Green-only Edges", image: greenEdgeImg, + info: "strong=\(strongCount) th=\(thresh)")) + } + if let vis = binaryMaskToImage(mask: finalMask, w: w, h: h, + box: (comp.minX, comp.minY, comp.maxX, comp.maxY)) { + stages.append(DebugStage(name: "3 Largest CC", image: vis, + info: "pix=\(comp.count)")) + self.debugImage = vis + } else { self.debugImage = nil } + self.debugStages = stages + } else { self?.debugImage = nil } + } + } +} + +// MARK: - 工具：绿色判定 / 连通域 / 阈值 / 可视化 + +/// “绿色较强”判定：先 RGB 预筛，再 HSV 限制（Hue≈[70°,170°]） +private func isStrongGreen(r: UInt8, g: UInt8, b: UInt8) -> Bool { + let rI = Int(r), gI = Int(g), bI = Int(b) + // 快速 RGB 预筛：G 明显领先，且自身强度不太低 + guard gI >= 90, gI >= rI + 20, gI >= bI + 20 else { return false } + + // HSV 判断（宽一些的绿色区间） + let rf = Float(r) / 255.0, gf = Float(g) / 255.0, bf = Float(b) / 255.0 + let maxv = max(rf, max(gf, bf)), minv = min(rf, min(gf, bf)) + let delta = maxv - minv + if maxv == 0 { return false } + let s = delta / maxv + let v = maxv + var h: Float = 0 + if delta > 0 { + if maxv == gf { + h = 60 * ((bf - rf) / delta) + 120 + } else if maxv == rf { + h = 60 * ((gf - bf) / delta).truncatingRemainder(dividingBy: 6) + } else { + h = 60 * ((rf - gf) / delta) + 240 + } + if h < 0 { h += 360 } + } + // 绿色：~[70°,170°]；适度饱和和亮度 + return (h >= 70 && h <= 170) && (s >= 0.35) && (v >= 0.25) +} + +/// 计算边缘图灰度阈值（分位数法） +private func percentileThresholdFromGray(rawEdges: [UInt8], w: Int, h: Int, rowBytes: Int, percentile: Double) -> UInt8 { + var hist = [Int](repeating: 0, count: 256) + for y in 0..= target { return UInt8(i) } + } + return 200 +} + +/// 8 邻域最大连通域（可忽略触边） +private func largestComponent(in mask: inout [UInt8], + w: Int, h: Int, + ignoreBorderTouching: Bool, + borderMargin: Int, + minArea: Int) -> ComponentStats? { + let total = w * h + if mask.isEmpty || total == 0 { return nil } + + var best: ComponentStats? = nil + var visited = [UInt8](repeating: 0, count: total) + var stack = [Int]() + stack.reserveCapacity(4096) + + @inline(__always) + func push(_ i: Int) { stack.append(i) } + @inline(__always) + func tryPush(_ i: Int) { if visited[i] == 0 && mask[i] != 0 { visited[i] = 1; push(i) } } + + for y0 in 0.. comp.maxX { comp.maxX = x } + if y < comp.minY { comp.minY = y } + if y > comp.maxY { comp.maxY = y } + if x <= borderMargin || y <= borderMargin || x >= w - 1 - borderMargin || y >= h - 1 - borderMargin { + comp.touchesBorder = true + } + + // 8 邻域 + if x > 0 { tryPush(i - 1) } + if x + 1 < w { tryPush(i + 1) } + if y > 0 { tryPush(i - w) } + if y + 1 < h { tryPush(i + w) } + if x > 0 && y > 0 { tryPush(i - w - 1) } + if x + 1 < w && y > 0 { tryPush(i - w + 1) } + if x > 0 && y + 1 < h { tryPush(i + w - 1) } + if x + 1 < w && y + 1 < h { tryPush(i + w + 1) } + } + + if comp.count < minArea { continue } + if ignoreBorderTouching && comp.touchesBorder { continue } + if let b = best { + if comp.count > b.count { best = comp } + } else { best = comp } + } + } + return best +} + +/// 二值 mask 可视化；若给定 box 则加红框 +private func binaryMaskToImage(mask: [UInt8], w: Int, h: Int, box: (Int, Int, Int, Int)?) -> UIImage? { + var rgba = [UInt8](repeating: 0, count: w * h * 4) + for i in 0..<(w*h) { + if mask[i] != 0 { + let o = i * 4 + rgba[o+0] = 255; rgba[o+1] = 255; rgba[o+2] = 255; rgba[o+3] = 255 + } else { + let o = i * 4 + rgba[o+3] = 255 + } + } + if let box = box { + let (minX, minY, maxX, maxY) = box + for x in minX...maxX { + let top = (minY * w + x) * 4 + let bot = (maxY * w + x) * 4 + rgba[top+0] = 255; rgba[top+1] = 0; rgba[top+2] = 0; rgba[top+3] = 255 + rgba[bot+0] = 255; rgba[bot+1] = 0; rgba[bot+2] = 0; rgba[bot+3] = 255 + } + for y in minY...maxY { + let left = (y * w + minX) * 4 + let right = (y * w + maxX) * 4 + rgba[left+0] = 255; rgba[left+1] = 0; rgba[left+2] = 0; rgba[left+3] = 255 + rgba[right+0] = 255; rgba[right+1] = 0; rgba[right+2] = 0; rgba[right+3] = 255 + } + } + return rgbaToUIImage(&rgba, w, h) +} + +/// RGBA 数组转 UIImage +private func rgbaToUIImage(_ buf: inout [UInt8], _ w: Int, _ h: Int) -> UIImage? { + return buf.withUnsafeMutableBytes { ptr in + guard let ctx = CGContext(data: ptr.baseAddress, width: w, height: h, + bitsPerComponent: 8, bytesPerRow: w*4, + space: CGColorSpaceCreateDeviceRGB(), + bitmapInfo: CGImageAlphaInfo.premultipliedLast.rawValue) else { return nil } + guard let cg = ctx.makeImage() else { return nil } + return UIImage(cgImage: cg) + } +} \ No newline at end of file diff --git a/optc-tracker/ContentView.swift b/optc-tracker/ContentView.swift index b801108..47fa82c 100644 --- a/optc-tracker/ContentView.swift +++ b/optc-tracker/ContentView.swift @@ -8,17 +8,151 @@ import SwiftUI struct ContentView: View { + @EnvironmentObject var camera: CameraManager + @EnvironmentObject var motion: MotionManager + + @State private var angleRecords: [AngleRecord] = [] + var body: some View { - VStack { - Image(systemName: "globe") - .imageScale(.large) - .foregroundStyle(.tint) - Text("Hello, world!") + NavigationStack { + ZStack(alignment: .bottom) { + CameraPreview() + .ignoresSafeArea() + + // 检测结果叠加层 + VStack(alignment: .leading, spacing: 10) { + // 顶部角度 & 记录区域 + VStack(alignment: .leading, spacing: 6) { + HStack(alignment: .firstTextBaseline, spacing: 8) { + Text(String(format: "Yaw %.1f° Pitch %.1f° Roll %.1f°", motion.yaw, motion.pitch, motion.roll)) + .font(.system(size: 13, weight: .semibold, design: .monospaced)) + .fixedSize(horizontal: false, vertical: true) + Spacer() + Button("记录") { + func r2(_ v: Double) -> Double { (v * 100).rounded() / 100 } + let rec = AngleRecord(timestamp: Date(), yaw: r2(motion.yaw), pitch: r2(motion.pitch), roll: r2(motion.roll)) + withAnimation(.spring(response: 0.3, dampingFraction: 0.8)) { + angleRecords.insert(rec, at: 0) + // 限制最多 30 条 + if angleRecords.count > 30 { angleRecords.removeLast(angleRecords.count - 30) } + } + } + .buttonStyle(.borderedProminent) + .controlSize(.mini) + } + if !angleRecords.isEmpty { + ScrollView(.horizontal, showsIndicators: false) { + HStack(spacing: 8) { + ForEach(angleRecords) { rec in + VStack(alignment: .leading, spacing: 2) { + Text(AngleRecord.dateFormatter.string(from: rec.timestamp)) + .font(.caption2) + .foregroundColor(.secondary) + Text(String(format: "Y%.2f P%.2f R%.2f", rec.yaw, rec.pitch, rec.roll)) + .font(.caption.monospaced()) + } + .padding(6) + .background(.ultraThinMaterial, in: RoundedRectangle(cornerRadius: 6, style: .continuous)) + } + } + .padding(.vertical, 2) + } + .transition(.opacity.combined(with: .move(edge: .top))) + .frame(maxHeight: 70) + } + } + .padding(10) + .background(.thinMaterial, in: RoundedRectangle(cornerRadius: 12, style: .continuous)) + .padding(.top, 50) + .padding(.horizontal) + + // 原 guidance 信息 + let threshold: CGFloat = 0.03 + let guidance: String = { + guard let c = camera.greenRegion else { return "未检测到光标" } + var msgs: [String] = [] + if c.offsetX > threshold { msgs.append("向左移动") } + else if c.offsetX < -threshold { msgs.append("向右移动") } + if c.offsetY > threshold { msgs.append("向上移动") } + else if c.offsetY < -threshold { msgs.append("向下移动") } + return msgs.isEmpty ? "已居中" : msgs.joined(separator: " · ") + }() + Text(guidance) + .font(.headline) + .padding(8) + .background(.ultraThinMaterial, in: Capsule()) + .foregroundColor(.white) + .padding(.horizontal) + + Spacer() + } + + VStack(spacing: 12) { + HStack { + Text(String(format: "lensPosition: %.3f", camera.currentLensPosition)) + .font(.system(size: 14, weight: .medium, design: .monospaced)) + .padding(8) + .background(.thinMaterial) + .cornerRadius(8) + + Spacer() + + Text(String(format: "缩放: %.1fx", camera.currentZoomFactor)) + .font(.system(size: 14, weight: .medium, design: .monospaced)) + .padding(8) + .background(.thinMaterial) + .cornerRadius(8) + NavigationLink(destination: DebugView()) { + Image(systemName: "waveform.path.ecg") + .padding(8) + .background(.thinMaterial) + .cornerRadius(8) + } + NavigationLink(destination: PipelineDebugView()) { + Image(systemName: "list.bullet.rectangle.portrait") + .padding(8) + .background(.thinMaterial) + .cornerRadius(8) + } + } + .padding(.horizontal) + + VStack(spacing: 10) { + // 对焦控制区域 + Text("拖动微调：对准目标后，调节使得目标最锐利") + .font(.footnote) + .foregroundColor(.secondary) + + Slider(value: Binding( + get: { Double(camera.currentLensPosition) }, + set: { newVal in + camera.lockFocus(to: Float(newVal)) + } + ), in: 0.0...1.0) + + Divider() + .padding(.vertical, 5) + + // 缩放控制区域 + Text("缩放控制：拖动滑块调整画面缩放") + .font(.footnote) + .foregroundColor(.secondary) + + Slider(value: Binding( + get: { Double(camera.currentZoomFactor) }, + set: { newVal in + camera.setZoomTo(CGFloat(newVal)) + } + ), in: Double(camera.minZoomFactor)...min(Double(camera.maxZoomFactor), 10.0)) + } + .padding() + .background(.thinMaterial) + .cornerRadius(12) + .padding(.bottom, 24) + .padding(.horizontal) + } + } + .navigationBarHidden(true) } - .padding() } } - -#Preview { - ContentView() -} diff --git a/optc-tracker/CrossDetection.swift b/optc-tracker/CrossDetection.swift new file mode 100644 index 0000000..2c02b53 --- /dev/null +++ b/optc-tracker/CrossDetection.swift @@ -0,0 +1,23 @@ +// CrossDetection.swift +// optc-tracker +// +// 绿色十字检测结果模型（归一化坐标） +// +import CoreGraphics +import Foundation // for UUID +import QuartzCore // for CACurrentMediaTime + +// 通用绿色区域检测结果 +struct GreenDetection: Identifiable { + let id = UUID() + /// 归一化包围盒（原点左上，宽高为 0~1） + let boundingBox: CGRect + /// 归一化中心点 + let center: CGPoint + /// 像素面积占比（相对原图） + let areaRatio: CGFloat + /// 偏移（相对 0.5,0.5）右/下为正 + let offsetX: CGFloat + let offsetY: CGFloat + let timestamp: CFTimeInterval = CACurrentMediaTime() +} diff --git a/optc-tracker/DebugView.swift b/optc-tracker/DebugView.swift new file mode 100644 index 0000000..d064828 --- /dev/null +++ b/optc-tracker/DebugView.swift @@ -0,0 +1,67 @@ +import SwiftUI + +struct DebugView: View { + @EnvironmentObject var camera: CameraManager + @State private var showRaw = true + + var body: some View { + VStack(spacing: 12) { + Text("调试视图 (绿色区域处理结果)") + .font(.headline) + if let img = camera.debugImage { + Image(uiImage: img) + .resizable() + .interpolation(.none) + .scaledToFit() + .border(Color.gray.opacity(0.4)) + .overlay(alignment: .topTrailing) { + if let region = camera.greenRegion { + VStack(alignment: .trailing, spacing: 4) { + Text(String(format: "中心: (%.3f, %.3f)", region.center.x, region.center.y)) + Text(String(format: "偏移: x=%.3f y=%.3f", region.offsetX, region.offsetY)) + Text(String(format: "面积比例: %.5f", region.areaRatio)) + } + .font(.system(.caption, design: .monospaced)) + .padding(6) + .background(.ultraThinMaterial, in: RoundedRectangle(cornerRadius: 8)) + .padding(6) + } + } + } else { + Text("等待第一帧...") + .foregroundColor(.secondary) + } + HStack { + Button("返回") { dismissSelf() } + Spacer() + Button("保存图像") { saveDebugImage() } + .disabled(camera.debugImage == nil) + } + .padding(.horizontal) + Spacer() + } + .padding() + .navigationBarBackButtonHidden(true) + } + + private func dismissSelf() { + // 由上层 NavigationStack / NavigationLink 控制，此处交给外部 + // 可使用环境 dismiss + if let scene = UIApplication.shared.connectedScenes.first as? UIWindowScene, + let window = scene.windows.first, + let root = window.rootViewController { + root.dismiss(animated: true) + } + } + + private func saveDebugImage() { + guard let img = camera.debugImage else { return } + UIImageWriteToSavedPhotosAlbum(img, nil, nil, nil) + } +} + +struct DebugView_Previews: PreviewProvider { + static var previews: some View { + DebugView().environmentObject(CameraManager()) + } +} diff --git a/optc-tracker/MotionManager.swift b/optc-tracker/MotionManager.swift new file mode 100644 index 0000000..27d9407 --- /dev/null +++ b/optc-tracker/MotionManager.swift @@ -0,0 +1,63 @@ +// +// MotionManager.swift +// optc-tracker +// +// Created by GitHub Copilot on 2025/8/21. +// + +import Foundation +import CoreMotion +import Combine + +/// 管理设备姿态(陀螺仪)数据 +final class MotionManager: ObservableObject { + private let motionManager = CMMotionManager() + private let queue = OperationQueue() + + @Published var yaw: Double = 0 // 航向 + @Published var pitch: Double = 0 // 俯仰 + @Published var roll: Double = 0 // 横滚 + + init() { + start() + } + + private func start() { + guard motionManager.isDeviceMotionAvailable else { return } + motionManager.deviceMotionUpdateInterval = 1.0/30.0 + motionManager.startDeviceMotionUpdates(using: .xArbitraryZVertical, to: queue) { [weak self] motion, _ in + guard let self, let attitude = motion?.attitude else { return } + // 将弧度转成角度 + let deg = 180.0 / .pi + let newYaw = attitude.yaw * deg + let newPitch = attitude.pitch * deg + let newRoll = attitude.roll * deg + DispatchQueue.main.async { + self.yaw = newYaw + self.pitch = newPitch + self.roll = newRoll + } + } + } + + deinit { + motionManager.stopDeviceMotionUpdates() + } +} + +/// 角度记录结构 +struct AngleRecord: Identifiable, Hashable { + let id = UUID() + let timestamp: Date + let yaw: Double + let pitch: Double + let roll: Double +} + +extension AngleRecord { + static let dateFormatter: DateFormatter = { + let f = DateFormatter() + f.dateFormat = "HH:mm:ss" + return f + }() +} diff --git a/optc-tracker/PipelineDebugView.swift b/optc-tracker/PipelineDebugView.swift new file mode 100644 index 0000000..175ae66 --- /dev/null +++ b/optc-tracker/PipelineDebugView.swift @@ -0,0 +1,95 @@ +import SwiftUI + +struct PipelineDebugView: View { + @EnvironmentObject var camera: CameraManager + @State private var selectedStageID: UUID? + @State private var autoRefresh: Bool = true + + var body: some View { + List { + if camera.debugStages.isEmpty { + Text("暂无调试阶段图像，确保已开启 debugEnabled") + .foregroundColor(.secondary) + } else { + ForEach(camera.debugStages) { stage in + Button { + selectedStageID = stage.id + } label: { + HStack(alignment: .top, spacing: 12) { + Image(uiImage: stage.image) + .resizable() + .interpolation(.none) + .aspectRatio(contentMode: .fit) + .frame(width: 120, height: 90) + .clipped() + .border(Color.gray.opacity(0.3)) + VStack(alignment: .leading, spacing: 4) { + Text(stage.name) + .font(.headline) + if let info = stage.info { Text(info).font(.caption.monospaced()).foregroundColor(.secondary) } + } + Spacer() + } + } + .buttonStyle(.plain) + } + } + } + .navigationTitle("处理管线调试") + .toolbar { + ToolbarItemGroup(placement: .topBarTrailing) { + Toggle(isOn: $autoRefresh) { Text("自动刷新").font(.caption) } + .toggleStyle(.switch) + Button(camera.debugEnabled ? "停用" : "启用") { camera.debugEnabled.toggle() } + } + } + .onReceive(camera.$debugStages) { _ in + guard autoRefresh else { return } + // 触发视图刷新；List 已绑定 camera.debugStages + } + .sheet(item: Binding( + get: { camera.debugStages.first { $0.id == selectedStageID } }, + set: { _ in selectedStageID = nil } + )) { stage in + ZoomableImageStage(stage: stage) + } + } +} + +private struct ZoomableImageStage: View { + let stage: DebugStage + @State private var zoom: CGFloat = 1 + @State private var offset: CGSize = .zero + var body: some View { + NavigationStack { + GeometryReader { geo in + Image(uiImage: stage.image) + .resizable() + .interpolation(.none) + .aspectRatio(contentMode: .fit) + .scaleEffect(zoom) + .offset(offset) + .gesture(MagnificationGesture() + .onChanged { v in zoom = v } + .onEnded { _ in if zoom < 1 { withAnimation { zoom = 1; offset = .zero } } } + ) + .gesture(DragGesture() + .onChanged { g in offset = g.translation } + .onEnded { _ in if zoom <= 1 { withAnimation { offset = .zero } } } + ) + .frame(width: geo.size.width, height: geo.size.height) + .background(Color.black.opacity(0.9)) + } + .navigationTitle(stage.name) + .navigationBarTitleDisplayMode(.inline) + .toolbar { + ToolbarItem(placement: .topBarTrailing) { Button("重置") { withAnimation { zoom = 1; offset = .zero } } } + ToolbarItem(placement: .topBarLeading) { Text(stage.info ?? "").font(.caption.monospaced()) } + } + } + } +} + +#Preview { + PipelineDebugView().environmentObject(CameraManager()) +} diff --git a/optc-tracker/PreviewView.swift b/optc-tracker/PreviewView.swift new file mode 100644 index 0000000..6c086d3 --- /dev/null +++ b/optc-tracker/PreviewView.swift @@ -0,0 +1,120 @@ +// +// PreviewView.swift +// optc-tracker +// +// Created by feie9454 on 2025/8/21. +// + +import UIKit +import AVFoundation +import SwiftUI + +final class PreviewCanvasView: UIView { + override class var layerClass: AnyClass { AVCaptureVideoPreviewLayer.self } + var videoPreviewLayer: AVCaptureVideoPreviewLayer { layer as! AVCaptureVideoPreviewLayer } + var session: AVCaptureSession? { + get { videoPreviewLayer.session } + set { videoPreviewLayer.session = newValue } + } + + private let overlayLayer = CAShapeLayer() + private let centerDot = CAShapeLayer() + + var green: GreenDetection? { didSet { updateOverlay() } } + + override init(frame: CGRect) { + super.init(frame: frame) + isOpaque = true + videoPreviewLayer.videoGravity = .resizeAspectFill + overlayLayer.strokeColor = UIColor.systemGreen.cgColor + overlayLayer.fillColor = UIColor.systemGreen.withAlphaComponent(0.15).cgColor + overlayLayer.lineWidth = 3 + overlayLayer.lineJoin = .round + overlayLayer.lineCap = .round + videoPreviewLayer.addSublayer(overlayLayer) + + centerDot.fillColor = UIColor.systemGreen.cgColor + overlayLayer.addSublayer(centerDot) + } + required init?(coder: NSCoder) { fatalError("init(coder:) has not been implemented") } + + override func layoutSubviews() { + super.layoutSubviews() + CATransaction.begin() + CATransaction.setDisableActions(true) + overlayLayer.frame = bounds + updateOverlay() + CATransaction.commit() + } + + private func updateOverlay() { + CATransaction.begin() + CATransaction.setDisableActions(true) + guard let det = green else { + overlayLayer.path = nil + centerDot.path = nil + CATransaction.commit() + return + } + // 识别算法在 CIImage 坐标系（原点在左下）下给出 boundingBox； + // AVCaptureMetadata / layerRectConverted 期望的 normalized rect 原点在左上，需要做 Y 翻转。 + // 翻转：y' = 1 - y - h + let box = det.boundingBox + var metaRect = CGRect( + x: box.origin.y , + y: 1 - box.origin.x - box.width, + width: box.height, + height: box.width) + // Clamp 防御 + metaRect.origin.x = max(0, min(1, metaRect.origin.x)) + metaRect.origin.y = max(0, min(1, metaRect.origin.y)) + metaRect.size.width = max(0, min(1 - metaRect.origin.x, metaRect.width)) + metaRect.size.height = max(0, min(1 - metaRect.origin.y, metaRect.height)) + let layerRect = videoPreviewLayer.layerRectConverted(fromMetadataOutputRect: metaRect) + + overlayLayer.path = UIBezierPath(rect: layerRect).cgPath + + let centerMeta = CGRect( + x: det.center.y - 0.001, + y: 1 - det.center.x - 0.001, + width: 0.002, + height: 0.002) + let centerRect = videoPreviewLayer.layerRectConverted(fromMetadataOutputRect: centerMeta) + centerDot.path = UIBezierPath(ovalIn: centerRect.insetBy(dx: -4, dy: -4)).cgPath + centerDot.fillColor = UIColor.systemGreen.cgColor + CATransaction.commit() + } +} + +struct CameraPreview: UIViewRepresentable { + @EnvironmentObject var camera: CameraManager + + func makeUIView(context: Context) -> PreviewCanvasView { + let v = PreviewCanvasView() + v.videoPreviewLayer.videoGravity = .resizeAspectFill + v.session = camera.session + let pinchGesture = UIPinchGestureRecognizer(target: context.coordinator, action: #selector(Coordinator.handlePinch(_:))) + v.addGestureRecognizer(pinchGesture) + return v + } + + func updateUIView(_ uiView: PreviewCanvasView, context: Context) { + uiView.green = camera.greenRegion + context.coordinator.camera = camera + } + + func makeCoordinator() -> Coordinator { Coordinator(camera: camera) } + + class Coordinator: NSObject { + var camera: CameraManager + private var initialZoomFactor: CGFloat = 1.0 + init(camera: CameraManager) { self.camera = camera } + @objc func handlePinch(_ gesture: UIPinchGestureRecognizer) { + switch gesture.state { + case .began: initialZoomFactor = camera.currentZoomFactor + case .changed: camera.setZoomTo(initialZoomFactor * gesture.scale) + default: break + } + } + } +} diff --git a/optc-tracker/TeleFocusDemoApp.swift b/optc-tracker/TeleFocusDemoApp.swift new file mode 100644 index 0000000..ce62ac6 --- /dev/null +++ b/optc-tracker/TeleFocusDemoApp.swift @@ -0,0 +1,21 @@ +// +// TeleFocusDemoApp.swift +// optc-tracker +// +// Created by feie9454 on 2025/8/21. +// + +import SwiftUI + +@main +struct TeleFocusDemoApp: App { + @StateObject private var camera = CameraManager() + @StateObject private var motion = MotionManager() + var body: some Scene { + WindowGroup { + ContentView() + .environmentObject(camera) + .environmentObject(motion) + } + } +} diff --git a/optc-tracker/optc_trackerApp.swift b/optc-tracker/optc_trackerApp.swift deleted file mode 100644 index 582633a..0000000 --- a/optc-tracker/optc_trackerApp.swift +++ /dev/null @@ -1,17 +0,0 @@ -// -// optc_trackerApp.swift -// optc-tracker -// -// Created by feie9454 on 2025/8/21. -// - -import SwiftUI - -@main -struct optc_trackerApp: App { - var body: some Scene { - WindowGroup { - ContentView() - } - } -} diff --git a/optc-trackerTests/optc_trackerTests.swift b/optc-trackerTests/optc_trackerTests.swift deleted file mode 100644 index 47be699..0000000 --- a/optc-trackerTests/optc_trackerTests.swift +++ /dev/null @@ -1,17 +0,0 @@ -// -// optc_trackerTests.swift -// optc-trackerTests -// -// Created by feie9454 on 2025/8/21. -// - -import Testing -@testable import optc_tracker - -struct optc_trackerTests { - - @Test func example() async throws { - // Write your test here and use APIs like `#expect(...)` to check expected conditions. - } - -} diff --git a/optc-trackerUITests/optc_trackerUITests.swift b/optc-trackerUITests/optc_trackerUITests.swift deleted file mode 100644 index b1c4b35..0000000 --- a/optc-trackerUITests/optc_trackerUITests.swift +++ /dev/null @@ -1,41 +0,0 @@ -// -// optc_trackerUITests.swift -// optc-trackerUITests -// -// Created by feie9454 on 2025/8/21. -// - -import XCTest - -final class optc_trackerUITests: XCTestCase { - - override func setUpWithError() throws { - // Put setup code here. This method is called before the invocation of each test method in the class. - - // In UI tests it is usually best to stop immediately when a failure occurs. - continueAfterFailure = false - - // In UI tests it’s important to set the initial state - such as interface orientation - required for your tests before they run. The setUp method is a good place to do this. - } - - override func tearDownWithError() throws { - // Put teardown code here. This method is called after the invocation of each test method in the class. - } - - @MainActor - func testExample() throws { - // UI tests must launch the application that they test. - let app = XCUIApplication() - app.launch() - - // Use XCTAssert and related functions to verify your tests produce the correct results. - } - - @MainActor - func testLaunchPerformance() throws { - // This measures how long it takes to launch your application. - measure(metrics: [XCTApplicationLaunchMetric()]) { - XCUIApplication().launch() - } - } -} diff --git a/optc-trackerUITests/optc_trackerUITestsLaunchTests.swift b/optc-trackerUITests/optc_trackerUITestsLaunchTests.swift deleted file mode 100644 index 0afde8e..0000000 --- a/optc-trackerUITests/optc_trackerUITestsLaunchTests.swift +++ /dev/null @@ -1,33 +0,0 @@ -// -// optc_trackerUITestsLaunchTests.swift -// optc-trackerUITests -// -// Created by feie9454 on 2025/8/21. -// - -import XCTest - -final class optc_trackerUITestsLaunchTests: XCTestCase { - - override class var runsForEachTargetApplicationUIConfiguration: Bool { - true - } - - override func setUpWithError() throws { - continueAfterFailure = false - } - - @MainActor - func testLaunch() throws { - let app = XCUIApplication() - app.launch() - - // Insert steps here to perform after app launch but before taking a screenshot, - // such as logging into a test account or navigating somewhere in the app - - let attachment = XCTAttachment(screenshot: app.screenshot()) - attachment.name = "Launch Screen" - attachment.lifetime = .keepAlways - add(attachment) - } -}