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feat: 航线 Y 偏移 1/2 幅宽、推荐帧率/曝光时间计算、速度默认值调整

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- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘
- 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320像元）
- 推荐帧率×曝光时间=999，Pika L 最大帧率限制 250fps
- 生成航线后自动填入子任务帧率和曝光时间
- Y 轴定位速度默认 10cm/s，X 扫描 3cm/s，X 回起点 10cm/s
This commit is contained in:
xin
2026-06-25 16:30:21 +08:00
parent 24eaae8219
commit 8b50c126b9
14 changed files with 167 additions and 25 deletions
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2
package.json
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@ -1,7 +1,7 @@
{
"name": "happa-mission-plan",
"private": true,
"version": "0.0.9",
"version": "0.0.10",
"type": "module",
"scripts": {
"dev": "vite",

2
src-tauri/Cargo.lock generated
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@ -3180,7 +3180,7 @@ dependencies = [
[[package]]
name = "spectral-insight-mission-plan"
version = "0.0.8"
version = "0.0.9"
dependencies = [
"byteorder",
"chrono",

2
src-tauri/Cargo.toml
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@ -1,6 +1,6 @@
[package]
name = "spectral-insight-mission-plan"
version = "0.0.9"
version = "0.0.10"
description = "Spectral Insight Mission Plan"
authors = ["you"]
edition = "2021"

13
src-tauri/src/commands/path_commands.rs
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@ -4,6 +4,7 @@ use crate::error::AppError;
use crate::io;
use crate::models::{PathLineFile, ScanParams, ScanRegion, CameraParams, ScanMode};
use crate::services;
use crate::services::camera_recommender::RecommendedCameraParams;
#[command]
pub fn load_path_line(path: String) -> Result<PathLineFile, AppError> {
@ -63,3 +64,15 @@ pub fn estimate_scan_time_multi_minutes(
speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode,
)
}
#[command]
pub fn recommend_hyperspectral_params(
device_type: String,
height_cm: f64,
fov_degrees: f64,
scan_speed_cm_s: f64,
) -> RecommendedCameraParams {
services::camera_recommender::recommend_hyperspectral_params(
&device_type, height_cm, fov_degrees, scan_speed_cm_s,
)
}

1
src-tauri/src/lib.rs
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@ -40,6 +40,7 @@ pub fn run() {
commands::path_commands::estimate_scan_time_minutes,
commands::path_commands::generate_scan_paths_multi,
commands::path_commands::estimate_scan_time_multi_minutes,
commands::path_commands::recommend_hyperspectral_params,
commands::devtools_commands::toggle_devtools,
commands::defaults_commands::save_default_scan_config,
commands::defaults_commands::load_default_scan_config,

6
src-tauri/src/models/path_plan.rs
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@ -68,9 +68,9 @@ impl Default for PlannerDefaults {
fov_degrees: 30.0,
height_cm: 50.0,
coverage_rate: 30.0,
speed_y_cm_s: 5.0,
speed_x_start_cm_s: 20.0,
speed_x_scan_cm_s: 10.0,
speed_y_cm_s: 10.0,
speed_x_start_cm_s: 10.0,
speed_x_scan_cm_s: 3.0,
mode: "OneWay".to_string(),
}
}

54
src-tauri/src/services/camera_recommender.rs Normal file
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@ -0,0 +1,54 @@
use serde::Serialize;
use super::path_generator::calc_footprint;
#[derive(Debug, Clone, Serialize)]
pub struct RecommendedCameraParams {
#[serde(rename = "recommendedFrameRate")]
pub recommended_frame_rate: u32,
#[serde(rename = "recommendedExposureTime")]
pub recommended_exposure_time: u32,
}
/// Calculate recommended frame rate and maximum exposure time for hyperspectral cameras.
///
/// Formula:
/// across-track pixel size = footprint / num_pixels
/// along-track pixel size = scan_speed / frame_rate
/// Square pixels: footprint / num_pixels = scan_speed / frame_rate
/// => frame_rate = scan_speed * num_pixels / footprint
/// => exposure_time = 999 / frame_rate
///
/// Device limits:
/// Pika L max frame rate = 250 fps
pub fn recommend_hyperspectral_params(
device_type: &str,
height_cm: f64,
fov_degrees: f64,
scan_speed_cm_s: f64,
) -> RecommendedCameraParams {
let (num_pixels, max_fps) = match device_type {
"HyperSpectual400_1000nm" => (900.0, 250), // Pika L
"HyperSpectual1000_1700nm" => (320.0, u32::MAX), // Pika NIR
_ => return RecommendedCameraParams {
recommended_frame_rate: 0,
recommended_exposure_time: 0,
},
};
if scan_speed_cm_s <= 0.0 || height_cm <= 0.0 || fov_degrees <= 0.0 {
return RecommendedCameraParams {
recommended_frame_rate: 0,
recommended_exposure_time: 0,
};
}
let footprint = calc_footprint(height_cm, fov_degrees);
let frame_rate = ((scan_speed_cm_s * num_pixels / footprint).round() as u32).max(1).min(max_fps);
let exposure_time = 999 / frame_rate;
RecommendedCameraParams {
recommended_frame_rate: frame_rate,
recommended_exposure_time: exposure_time,
}
}

1
src-tauri/src/services/mod.rs
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@ -1,3 +1,4 @@
pub mod scheduler;
pub mod validator;
pub mod camera_recommender;
pub mod path_generator;

48
src-tauri/src/services/path_generator.rs
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@ -18,10 +18,15 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
let y_min = params.region.y_min;
let y_max = params.region.y_max;
let line_count = if step <= 0.0 {
let half_fp = footprint / 2.0;
let y_start = y_min + half_fp;
let y_end = y_max - half_fp;
let single_line = step <= 0.0 || y_end <= y_start;
let line_count = if single_line {
1
} else {
((y_max - y_min) / step).ceil() as u64 + 1
((y_end - y_start) / step).ceil() as u64 + 1
};
let mut records = Vec::with_capacity(line_count as usize);
@ -29,8 +34,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
match params.mode {
ScanMode::Zigzag => {
for i in 0..line_count {
let y = y_min + (i as f64) * step;
if y > y_max {
let y = if single_line {
(y_min + y_max) / 2.0
} else {
y_start + (i as f64) * step
};
if !single_line && y > y_end {
break;
}
@ -53,8 +62,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
}
ScanMode::OneWay => {
for i in 0..line_count {
let y = y_min + (i as f64) * step;
if y > y_max {
let y = if single_line {
(y_min + y_max) / 2.0
} else {
y_start + (i as f64) * step
};
if !single_line && y > y_end {
break;
}
@ -117,13 +130,26 @@ pub fn generate_paths_multi(
let mut all_records = Vec::new();
for (i, region) in regions.iter().enumerate() {
let is_circle = shapes.get(i).map(|s| s == "Circle").unwrap_or(false);
let step = calc_footprint(camera.height_cm, camera.fov_degrees)
* (1.0 - coverage_rate / 100.0);
let line_count = if step <= 0.0 { 1 } else { ((region.y_max - region.y_min) / step).ceil() as u64 + 1 };
let footprint = calc_footprint(camera.height_cm, camera.fov_degrees);
let step = footprint * (1.0 - coverage_rate / 100.0);
let half_fp = footprint / 2.0;
let y_start = region.y_min + half_fp;
let y_end = region.y_max - half_fp;
let single_line = step <= 0.0 || y_end <= y_start;
let line_count = if single_line {
1
} else {
((y_end - y_start) / step).ceil() as u64 + 1
};
for li in 0..line_count {
let y = region.y_min + (li as f64) * step;
if y > region.y_max { break; }
let y = if single_line {
(region.y_min + region.y_max) / 2.0
} else {
y_start + (li as f64) * step
};
if !single_line && y > y_end { break; }
let (x_start, x_end) = if is_circle {
let cx = (region.x_min + region.x_max) / 2.0;

2
src-tauri/tauri.conf.json
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@ -1,7 +1,7 @@
{
"$schema": "https://schema.tauri.app/config/2",
"productName": "Spectral Insight Mission Plan",
"version": "0.0.9",
"version": "0.0.10",
"identifier": "com.spectral-insight.mission-plan",
"build": {
"beforeDevCommand": "npm run dev",

11
src/components/planner/ScanParamPanel.vue
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@ -49,6 +49,8 @@
<n-descriptions label-placement="left" :column="1">
<n-descriptions-item label="扫描线数">{{ lineCount }}</n-descriptions-item>
<n-descriptions-item label="预估耗时">{{ estTimeFormatted }}</n-descriptions-item>
<n-descriptions-item v-if="recommendedFrameRate && recommendedFrameRate > 0" label="推荐帧率">{{ recommendedFrameRate }} fps</n-descriptions-item>
<n-descriptions-item v-if="recommendedExposureTime && recommendedExposureTime > 0" label="推荐曝光时间">{{ recommendedExposureTime }} ms</n-descriptions-item>
</n-descriptions>
</n-card>
</n-form>
@ -61,7 +63,7 @@ import type { CameraParams, ScanMode } from '../../types/path-plan';
import { formatDuration } from '../../utils/constants';
import HelpIcon from '../common/HelpIcon.vue';
const props = defineProps<{
const props = withDefaults(defineProps<{
camera: CameraParams;
coverageRate: number;
speedY: number;
@ -70,7 +72,12 @@ const props = defineProps<{
mode: ScanMode;
lineCount: number;
estTime: number;
}>();
recommendedFrameRate?: number;
recommendedExposureTime?: number;
}>(), {
recommendedFrameRate: undefined,
recommendedExposureTime: undefined,
});
const emit = defineEmits<{
update: [params: any];

2
src/types/mission.ts
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@ -33,7 +33,7 @@ export function createDefaultPlannerParams(): PlannerDefaults {
return {
fovDegrees: 30, heightCm: 50,
coverageRate: 30,
speedYCmS: 5, speedXStartCmS: 20, speedXScanCmS: 10,
speedYCmS: 10, speedXStartCmS: 10, speedXScanCmS: 3,
mode: 'Zigzag',
};
}

40
src/views/PathPlannerView.vue
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@ -60,6 +60,8 @@
:mode="scanMode"
:line-count="generatedRecords.length"
:est-time="estimatedTime"
:recommended-frame-rate="recommendedParams?.recommendedFrameRate ?? undefined"
:recommended-exposure-time="recommendedParams?.recommendedExposureTime ?? undefined"
@update="onParamChange"
/>
</template>
@ -103,14 +105,15 @@ function getDeviceFov(): number {
const regions = ref<ScanRegion[]>([]);
const camera = ref<CameraParams>({ fovDegrees: getDeviceFov(), heightCm: 50 });
const coverageRate = ref(30);
const speedY = ref(5);
const speedXScan = ref(10);
const speedXStart = ref(20);
const speedY = ref(10);
const speedXScan = ref(3);
const speedXStart = ref(10);
const scanMode = ref<ScanMode>('OneWay');
const generatedRecords = ref<PathLineRecord[]>([]);
const previewRecords = computed(() => generatedRecords.value);
const estimatedTime = ref(0);
const recommendedParams = ref<{recommendedFrameRate: number, recommendedExposureTime: number} | null>(null);
invoke<PlannerDefaults>('load_planner_defaults').then(p => {
coverageRate.value = p.coverageRate;
@ -175,6 +178,27 @@ async function generatePath() {
speedYCmS: speedY.value, speedXStartCmS: speedXStart.value, speedXScanCmS: speedXScan.value, mode: scanMode.value,
});
estimatedTime.value = estTime;
// 获取推荐相机参数
if (props.taskId !== null && props.subTaskId !== null) {
const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
const sub = task?.subTasks.find(s => s.id === props.subTaskId);
if (sub) {
recommendedParams.value = await invoke<{recommendedFrameRate: number, recommendedExposureTime: number}>('recommend_hyperspectral_params', {
deviceType: sub.type,
heightCm: camera.value.heightCm,
fovDegrees: camera.value.fovDegrees,
scanSpeedCmS: speedXScan.value,
});
// 将推荐参数立即写入子任务
if (recommendedParams.value && DEVICE_FOV[sub.type]) {
sub.frameRate = recommendedParams.value.recommendedFrameRate;
sub.exposureTime = recommendedParams.value.recommendedExposureTime;
await missionStore.updateSubTask(props.taskId, { ...sub });
}
}
}
message.success(`航线生成完成: ${file.count} 条记录`);
} catch (e) { message.error('航线生成失败: ' + e); }
}
@ -191,7 +215,15 @@ async function savePath() {
if (props.taskId !== null && props.subTaskId !== null) {
const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
const sub = task?.subTasks.find(s => s.id === props.subTaskId);
if (sub) { sub.pathLineFilePath = finalPath; await missionStore.updateSubTask(props.taskId, { ...sub }); message.success('已自动填入子任务航线路径'); }
if (sub) {
sub.pathLineFilePath = finalPath;
if (recommendedParams.value) {
sub.frameRate = recommendedParams.value.recommendedFrameRate;
sub.exposureTime = recommendedParams.value.recommendedExposureTime;
}
await missionStore.updateSubTask(props.taskId, { ...sub });
message.success('已自动填入子任务航线路径及推荐相机参数');
}
}
}
} catch (e) { message.error('保存失败: ' + e); }

8
update.md
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@ -1,5 +1,13 @@
# Spectral Insight Mission Plan - 更新日志
## v0.0.10 (2026-06-25)
- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘
- 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320 像元，帧率×曝光时间=999）
- 生成航线后自动填入子任务帧率和曝光时间
- Pika L 最大帧率限制 250fps（唐超）
- Y 轴定位速度默认值修改为 10cm/s，X 扫描速度 3cm/s，X 回起点速度 10cm/s
## v0.0.9 (2026-06-25)
- 航线生成画布支持 scanConfig 坐标范围（修改 X/Y 范围后画布随之更新）