修改点云和地图

2025-08-25 15:24:04 +08:00
parent 15a57034ac
commit 6a1cac2d13
9 changed files with 4872 additions and 377 deletions
--- a/package.json
+++ b/package.json
@@ -14,7 +14,6 @@
    "element-ui": "^2.15.14",
    "jsencrypt": "^3.3.2",
    "lodash": "^4.17.21",
-    "pixi.js": "^8.12.0",
    "simple-keyboard": "^3.8.72",
    "simple-keyboard-layouts": "^3.4.114",
    "three": "^0.179.1",
--- a/public/index.html
+++ b/public/index.html
@@ -3,7 +3,7 @@
  <head>
    <meta charset="utf-8">
    <meta http-equiv="X-UA-Compatible" content="IE=edge">
-    <meta name="viewport" content="width=device-width,initial-scale=1.0">
+    <meta name="viewport" content="width=device-width,initial-scale=1.0, maximum-scale=1.0, user-scalable=no, shrink-to-fit=no">
    <link rel="icon" href="<%= BASE_URL %>favicon.ico">
    <!-- <title><%= htmlWebpackPlugin.options.title %></title> -->
    <title>APT</title>
--- a/src/config/canvasZoomDrag.js
+++ b/src/config/canvasZoomDrag.js
@@ -123,6 +123,34 @@ export default {
      if (this.scale > 0.02) {
        this.zoom(-8) // 每次缩小8%
      }
+    },
+    centerToCar() {
+      // 1. 基础数据校验（避免报错）
+      if (!this.mapData || !this.carPosition?.x || !this.carPosition?.y || !this.canvas) {
+        this.$message.warning('无法定位：地图或小车位置数据缺失');
+        return;
+      }
+
+      // 2. 步骤1：计算小车在「原始画布」的坐标（未缩放）
+      const rawCarX = (this.carPosition.x - this.mapData.x) / this.mapData.resolution;
+      const rawCarY = this.mapData.height - (this.carPosition.y - this.mapData.y) / this.mapData.resolution;
+
+      // 3. 步骤2：计算小车在「缩放后画布」的坐标
+      const scaledCarX = rawCarX * this.scale;
+      const scaledCarY = rawCarY * this.scale;
+
+      // 4. 步骤3：计算可视区域中心坐标（画布容器的中心）
+      const viewCenterX = this.canvas.offsetWidth * this.scale / 2;
+      const viewCenterY = this.canvas.offsetHeight * this.scale / 2;
+
+      // 5. 步骤4：计算目标偏移量（核心修正）
+      let targetOffsetX = viewCenterX - scaledCarX;
+      let targetOffsetY = viewCenterY - scaledCarY;
+
+      // 7. 应用最终偏移量并刷新画布
+      this.offsetX = targetOffsetX;
+      this.offsetY = targetOffsetY;
+      this.applyTransform(); // 立即更新CSS变换
    }
  }
 }
--- a/src/config/point2.js
+++ b/src/config/point2.js
--- a/src/images/new/apt_map_1.png
+++ b/src/images/new/apt_map_1.png
--- a/src/pages/modules/gl-map-1.vue
+++ b/src/pages/modules/gl-map-1.vue
@@ -14,6 +14,7 @@ import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
 import { mapGetters } from 'vuex'
 // import { points } from '../../config/point.js'
 // import { points1 } from '../../config/point1.js'
+// import { points2 } from '../../config/point2.js'
 export default {
  /* eslint-disable */
  data () {
@@ -361,6 +362,10 @@ export default {
      //   const arr = points1.data
      //   this.updatePointCloud(arr);
      // }, 5000)
+      // setTimeout(() => {
+      //   const arr = points2.data
+      //   this.updatePointCloud(arr);
+      // }, 10000)
    },
    
    /**
@@ -561,5 +566,4 @@ export default {
  display: flex;
  align-items: center;
 }
-</style>
-../../config/point copy.js
+</style>
--- a/src/pages/modules/map.vue
+++ b/src/pages/modules/map.vue
@@ -14,11 +14,19 @@
        @mouseup="handleMouseUp"
        @mouseleave="handleMouseUp"
      ></canvas>
-      <!-- <el-row type="flex" justify="end" class="map_tools">
-        <el-button type="primary" :disabled="zoomPercentage === 2" icon="el-icon-minus" size="mini" style="border: 0;border-radius: 0;" @click="zoomOut"></el-button>
+      <el-row type="flex" justify="end" class="map_tools">
+        <el-button 
+          type="primary" 
+          :disabled="!carPosition?.x || !carPosition?.y"
+          icon="el-icon-location"
+          size="mini" 
+          style="border-left: 0;border-top: 0;border-bottom: 0;border-radius: 0;" 
+          @click="centerToCar"
+        ></el-button>
+        <el-button type="primary" :disabled="zoomPercentage === 2" icon="el-icon-minus" size="mini" style="border: 0;border-radius: 0;margin-left: 0" @click="zoomOut"></el-button>
        <div class="zoom_data">{{ zoomPercentage }}%</div>
        <el-button type="primary" :disabled="zoomPercentage === 200" icon="el-icon-plus" size="mini" style="border: 0;border-radius: 0;" @click="zoomIn"></el-button>
-      </el-row> -->
+      </el-row>
    </div>
    <div
      v-if="showPopup"
@@ -120,13 +128,31 @@ export default {
  mounted () {
    this.preloadMarkerImage()
    this.preloadCarImage()
-    this.loadAllDataInParallel()
+    this.loadAllDataInParallel().then(() => {
+      this.waitForResourcesReady().then(() => {
+        this.centerToCar();
+      });
+    });
    document.addEventListener('click', this.handleDocumentClick)
  },
  beforeDestroy () {
    document.removeEventListener('click', this.handleDocumentClick)
  },
  methods: {
+    waitForResourcesReady() {
+      return new Promise((resolve) => {
+        const checkReady = () => {
+          const isImagesReady = this.imageLoadStatus.map && this.imageLoadStatus.marker && this.imageLoadStatus.car;
+          const isCanvasReady = this.canvas && this.ctx;
+          if (isImagesReady && isCanvasReady) {
+            resolve();
+          } else {
+            setTimeout(checkReady, 100);
+          }
+        };
+        checkReady();
+      });
+    },
    preloadCarImage () {
      if (this.cachedImages.car) {
        this.imageLoadStatus.car = true
@@ -210,9 +236,11 @@ export default {
        this.initCanvas()
        await this.loadMapImage()
        this.loading.close()
+        return true
      } catch (e) {
        this.$message.error(`数据加载失败: ${e.message || '未知错误'}`)
        this.loading.close()
+        return false
      }
    },
    async _getMapInfoByCode () {
@@ -372,7 +400,7 @@ export default {
        20,
        20
      )
-      // this.ctx.restore()
+      this.ctx.restore()
    },
    handleCanvasClick (event) {
      const rect = this.canvas.getBoundingClientRect()
--- a/src/pages/modules/point-cloud-map.vue
+++ b/src/pages/modules/point-cloud-map.vue
@@ -1,295 +0,0 @@
-<template>
-  <div class="point-cloud-map">
-    <div ref="canvasContainer" class="canvas-container"></div>
-    <div v-if="isLoading" class="loading-indicator">
-      <i class="fa fa-circle-o-notch fa-spin"></i> 加载中...
-    </div>
-  </div>
-</template>
-
-<script>
-import { Application, ParticleContainer, Sprite, Graphics, Texture } from 'pixi.js'
-import { mapGetters } from 'vuex'
-import { points } from '../../config/point.js'
-export default {
-  data() {
-    return {
-      // PixiJS核心对象
-      app: null,
-      pointContainer: null,
-      carSprite: null,
-      
-      // 点云数据
-      allPoints: [],
-      pointScale: 1.0,
-      
-      // 小车资源
-      vehicleImage: require('../../images/new/agv.png'),
-      carTexture: null,
-      
-      // WebSocket
-      socket: null,
-      isLoading: true,
-      
-      // 性能控制
-      lastUpdateTime: 0,
-      updateInterval: 800,
-      isDestroyed: false
-    }
-  },
-  computed: {
-    ...mapGetters(['serverUrl', 'userRole', 'carPosition']),
-  },
-  watch: {
-    carPosition: {
-      handler(newVal) {
-        this.updateCarPosition(newVal)
-      },
-      deep: true
-    }
-  },
-  mounted() {
-    // 使用$nextTick确保DOM完全渲染后再初始化
-    this.$nextTick(() => {
-      this.initPixi()
-      // this.initWebSocket()
-      this.init()
-      window.addEventListener('resize', this.handleResize)
-      setTimeout(() => {
-        this.isLoading = false
-      }, 1000)
-    })
-  },
-  beforeDestroy() {
-    this.isDestroyed = true
-    
-    // 清理WebSocket
-    if (this.socket) {
-      this.socket.close()
-      this.socket = null
-    }
-    
-    // 销毁Pixi应用
-    if (this.app) {
-      this.app.destroy()
-      const container = this.$refs.canvasContainer
-      if (container && container.children.length > 0) {
-        container.removeChild(container.children[0])
-      }
-      this.app = null
-    }
-    
-    // 清理资源
-    if (this.carTexture) {
-      this.carTexture.destroy()
-      this.carTexture = null
-    }
-    
-    window.removeEventListener('resize', this.handleResize)
-    this.allPoints = []
-  },
-  methods: {
-    async initPixi() {
-      // 确保容器元素存在
-      const container = this.$refs.canvasContainer
-      if (!container) {
-        console.error('Canvas容器未找到')
-        return
-      }
-      
-      try {
-        // PixiJS v8+ 使用 Application.init() 替代 new Application()
-        this.app = await Application.init({
-          width: container.clientWidth,
-          height: container.clientHeight,
-          backgroundColor: 0x0c0c0c,
-          antialias: true,
-          resolution: window.devicePixelRatio || 1,
-          autoDensity: true,
-        })
-        
-        // PixiJS v8+ 使用 canvas 属性替代 view 属性
-        if (this.app.canvas) {
-          container.appendChild(this.app.canvas)
-        } else {
-          console.error('PixiJS未能创建有效的canvas')
-          return
-        }
-        
-        // 创建点容器 - 使用ParticleContainer提高性能
-        this.pointContainer = new ParticleContainer(10000, {
-          position: true,
-          rotation: true,
-          tint: true,
-          alpha: true
-        })
-        this.app.stage.addChild(this.pointContainer)
-        
-        // 加载小车纹理
-        this.carTexture = await Texture.fromURL(this.vehicleImage)
-        this.initCar()
-      } catch (error) {
-        console.error('Pixi初始化失败:', error)
-      }
-    },
-    
-    initCar() {
-      if (!this.carTexture) {
-        console.error('小车纹理未加载')
-        return
-      }
-      
-      this.carSprite = new Sprite(this.carTexture)
-      this.carSprite.anchor.set(0.5) // 设置锚点为中心
-      this.carSprite.width = 30
-      this.carSprite.height = 30
-      this.app.stage.addChild(this.carSprite)
-      
-      if (this.carPosition) {
-        this.updateCarPosition(this.carPosition)
-      }
-    },
-    
-    updateCarPosition(position) {
-      if (!this.carSprite || !position) return
-      
-      this.carSprite.x = position.x * this.pointScale
-      this.carSprite.y = position.y * this.pointScale
-      this.carSprite.rotation = position.angle * (Math.PI / 180) // 转换为弧度
-    },
-    
-    initWebSocket() {
-      const wsHost = this.serverUrl.replace(/^https?:\/\//, '')
-      this.socket = new WebSocket(`ws://${wsHost}/webSocket/PointCloudData/${this.userRole}`)
-      
-      this.socket.onopen = () => {
-        console.log('WebSocket连接已建立')
-        this.isLoading = false
-      }
-      
-      this.socket.onmessage = (event) => {
-        if (this.isDestroyed) return
-        
-        try {
-          const now = Date.now()
-          if (now - this.lastUpdateTime < this.updateInterval) return
-          this.lastUpdateTime = now
-          
-          const pointData = JSON.parse(event.data)
-          this.updatePointCloud(pointData.data)
-        } catch (error) {
-          console.error('解析点云数据失败:', error)
-        }
-      }
-      
-      this.socket.onclose = (event) => {
-        console.log('WebSocket连接已关闭，代码:', event.code)
-        this.isLoading = true
-        setTimeout(() => this.initWebSocket(), 3000)
-      }
-      
-      this.socket.onerror = (error) => {
-        console.error('WebSocket错误:', error)
-        this.isLoading = true
-      }
-    },
-    
-    updatePointCloud(points) {
-      if (!Array.isArray(points) || points.length === 0) return
-      
-      // 去重逻辑
-      const existingPoints = {}
-      this.allPoints.forEach(point => {
-        existingPoints[`${point.x},${point.y}`] = true
-      })
-      
-      const newUniquePoints = points.filter(point => {
-        const key = `${point.x},${point.y}`
-        if (!existingPoints[key]) {
-          existingPoints[key] = true
-          return true
-        }
-        return false
-      })
-      
-      this.allPoints = [...this.allPoints, ...newUniquePoints]
-      
-      // 限制总点数
-      const maxPoints = 5000
-      if (this.allPoints.length > maxPoints) {
-        this.allPoints = this.allPoints.slice(-maxPoints)
-      }
-      
-      // 清空容器
-      this.pointContainer.removeChildren()
-      
-      // 添加新点 - 使用Graphics批量绘制
-      const graphics = new Graphics()
-      graphics.beginFill(0xFFFFFF, 0.8)
-      
-      this.allPoints.forEach(point => {
-        graphics.drawCircle(
-          point.x * this.pointScale,
-          point.y * this.pointScale,
-          1
-        )
-      })
-      
-      graphics.endFill()
-      this.pointContainer.addChild(graphics)
-    },
-
-    handleResize() {
-      if (!this.app || !this.$refs.canvasContainer) return
-      
-      const container = this.$refs.canvasContainer
-      this.app.renderer.resize(
-        container.clientWidth,
-        container.clientHeight
-      )
-    },
-
-    init () {
-      this.isLoading = false
-      const pointData = points.data
-      this.updatePointCloud(pointData);
-      setTimeout(() => {
-        const arr = [{x: 2, y: 2}, {x: 4, y: 4}]
-        this.updatePointCloud(arr);
-      }, 2000)
-    }
-  }
-}
-</script>
-
-<style lang="stylus" scoped>
-.point-cloud-map
-  position relative
-  width 100%
-  height calc(100% - 1rem)
-  margin .14rem 0
-  background-color rgba(4, 33, 58, 70%)
-  box-shadow inset 1px 1px 7px 2px #4d9bcd
-  overflow hidden
-  
-.canvas-container
-  width 100%
-  height 100%
-  position relative
-  z-index 0
-
-.loading-indicator
-  position absolute
-  top 50%
-  left 50%
-  transform translate(-50%, -50%)
-  background-color rgba(255, 255, 255, 0.8)
-  padding .01rem .02rem
-  border-radius 4px
-  box-shadow 0 2px 10px rgba(0, 0, 0, 0.1)
-  font-size .12rem
-  color #333
-  z-index 100
-  display flex
-  align-items center
-</style>
--- a/yarn.lock
+++ b/yarn.lock
@@ -1019,11 +1019,6 @@
    "@nodelib/fs.scandir" "2.1.5"
    fastq "^1.6.0"

-"@pixi/colord@^2.9.6":
-  version "2.9.6"
-  resolved "https://registry.npmmirror.com/@pixi/colord/-/colord-2.9.6.tgz#7e4e7851480da6fd3cef4e331f008d60be7e1204"
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@@ -1101,16 +1096,6 @@
  dependencies:
    "@types/node" "*"

-"@types/css-font-loading-module@^0.0.12":
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-  resolved "https://registry.npmmirror.com/@types/css-font-loading-module/-/css-font-loading-module-0.0.12.tgz#65494833928823f998fbe8e86312821875d80db5"
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-
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-  version "3.0.0"
-  resolved "https://registry.npmmirror.com/@types/earcut/-/earcut-3.0.0.tgz#c21ab8372c47f8af1bec63cb36eecb6917b6c5b6"
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-
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@@ -1751,16 +1736,6 @@
    "@webassemblyjs/ast" "1.14.1"
    "@xtuc/long" "4.2.2"

-"@webgpu/types@^0.1.40":
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-
-"@xmldom/xmldom@^0.8.10":
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@@ -2851,11 +2826,6 @@ duplexer@^0.1.2:
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-
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@@ -3198,11 +3168,6 @@ eventemitter3@^4.0.0:
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@@ -3526,13 +3491,6 @@ get-stream@^6.0.0:
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-  dependencies:
-    js-binary-schema-parser "^2.0.3"
-
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@@ -3975,11 +3933,6 @@ isexe@^2.0.0:
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-  version "1.1.1"
-  resolved "https://registry.npmmirror.com/ismobilejs/-/ismobilejs-1.1.1.tgz#c56ca0ae8e52b24ca0f22ba5ef3215a2ddbbaa0e"
-  integrity sha512-VaFW53yt8QO61k2WJui0dHf4SlL8lxBofUuUmwBo0ljPk0Drz2TiuDW4jo3wDcv41qy/SxrJ+VAzJ/qYqsmzRw==
-
 isobject@^3.0.1:
  version "3.0.1"
  resolved "https://registry.npmmirror.com/isobject/-/isobject-3.0.1.tgz#4e431e92b11a9731636aa1f9c8d1ccbcfdab78df"
@@ -4028,11 +3981,6 @@ joi@^17.4.0:
    "@sideway/formula" "^3.0.1"
    "@sideway/pinpoint" "^2.0.0"

-js-binary-schema-parser@^2.0.3:
-  version "2.0.3"
-  resolved "https://registry.npmmirror.com/js-binary-schema-parser/-/js-binary-schema-parser-2.0.3.tgz#3d7848748e8586e63b34e8911b643f59cfb6396e"
-  integrity sha512-xezGJmOb4lk/M1ZZLTR/jaBHQ4gG/lqQnJqdIv4721DMggsa1bDVlHXNeHYogaIEHD9vCRv0fcL4hMA+Coarkg==
-
 js-message@1.0.7:
  version "1.0.7"
  resolved "https://registry.npmmirror.com/js-message/-/js-message-1.0.7.tgz#fbddd053c7a47021871bb8b2c95397cc17c20e47"
@@ -4756,11 +4704,6 @@ parse-json@^5.0.0:
    json-parse-even-better-errors "^2.3.0"
    lines-and-columns "^1.1.6"

-parse-svg-path@^0.1.2:
-  version "0.1.2"
-  resolved "https://registry.npmmirror.com/parse-svg-path/-/parse-svg-path-0.1.2.tgz#7a7ec0d1eb06fa5325c7d3e009b859a09b5d49eb"
-  integrity sha512-JyPSBnkTJ0AI8GGJLfMXvKq42cj5c006fnLz6fXy6zfoVjJizi8BNTpu8on8ziI1cKy9d9DGNuY17Ce7wuejpQ==
-
 parse5-htmlparser2-tree-adapter@^6.0.0:
  version "6.0.1"
  resolved "https://registry.npmmirror.com/parse5-htmlparser2-tree-adapter/-/parse5-htmlparser2-tree-adapter-6.0.1.tgz#2cdf9ad823321140370d4dbf5d3e92c7c8ddc6e6"
@@ -4849,22 +4792,6 @@ picomatch@^2.0.4, picomatch@^2.2.1, picomatch@^2.3.1:
  resolved "https://registry.npmmirror.com/picomatch/-/picomatch-2.3.1.tgz#3ba3833733646d9d3e4995946c1365a67fb07a42"
  integrity sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==

-pixi.js@^8.12.0:
-  version "8.12.0"
-  resolved "https://registry.npmmirror.com/pixi.js/-/pixi.js-8.12.0.tgz#6079f953de83491ebc021f8a0ead0d167cf24191"
-  integrity sha512-or7vrH7WajLevu/JnGMdD80JaSpTlXfjwCLtzhg2BL60LWPf1pF0w08Qleiqr1Saj012gevguM//+6HzzVlnfA==
-  dependencies:
-    "@pixi/colord" "^2.9.6"
-    "@types/css-font-loading-module" "^0.0.12"
-    "@types/earcut" "^3.0.0"
-    "@webgpu/types" "^0.1.40"
-    "@xmldom/xmldom" "^0.8.10"
-    earcut "^3.0.2"
-    eventemitter3 "^5.0.1"
-    gifuct-js "^2.1.2"
-    ismobilejs "^1.1.1"
-    parse-svg-path "^0.1.2"
-
 pkg-dir@^4.1.0:
  version "4.2.0"
  resolved "https://registry.npmmirror.com/pkg-dir/-/pkg-dir-4.2.0.tgz#f099133df7ede422e81d1d8448270eeb3e4261f3"