gengxin

.gitignore

@@ -3,6 +3,7 @@ __pycache__/
 
 # Per-device calibration state and generated artifacts
 /calibration.json
+/history/
 /result/*
 !/result/.gitkeep
 /scan-panorama/result/*

README.md

@@ -14,6 +14,7 @@ scan-calibrator/
 ├── interactive_calibrator.py
 ├── calibrate.sh                # 手动配置入口
 ├── scan_calibrator.py
+├── history/                    # 每次交互向导的完整或中途标定记录（运行时生成）
 ├── src/measure_overlap.cpp
 ├── result/                     # 运行时生成的scan配置片段
 └── scan-panorama/
@@ -41,14 +42,19 @@ cd /home/zhangw/scan-calibrator
 运行`install.sh`会自动补齐。ImageMagick安装在RK3588宿主机，而不是smart-cam容器内，
 因为验证拼图程序运行在宿主机。
 
-只需要输入：
+常用输入：
 
 - `1`：确认、执行或选择野外部署；
 - `2`：只在第一个问题中表示办公室测试；
-- `3`：结束对话，并清理本次未完成向导生成的标定状态和临时标定截图；
+- 历史记录选择处输入`1`、`2`、`3`等序号：复用对应记录，输入`0`新建，输入`q`退出；
+- 左上角和右下角既可回复`1`读取摄像头，也可直接粘贴
+  `pan=21720 (217.20°), tilt=1268 (12.68°), zoom=4580 (45.80×)`；
+- 除历史记录选择处外，`3`：结束对话并保留当前标定进度；
 - `Ctrl+C`：等同于退出。
 
-退出不会删除历史扫描目录，也不会回滚已经明确确认替换并重启的`config.json`。
+每次启动都会建立一条独立历史记录。退出不会删除已记录的角点、已测得的单轴step、
+已生成的配置、历史扫描目录，也不会回滚已经明确确认替换并重启的`config.json`。
+临时标定截图仍会清理，避免长期占用设备磁盘。
 
 ## 完整对话示例
 
@@ -57,21 +63,27 @@ cd /home/zhangw/scan-calibrator
 
 ```text
 您好！我们现在开始配置扫图参数！
-在接下来的对话中，回复 3 会立即结束，并清理本次向导产生的标定痕迹。
+标定进度会逐步保存；中途回复 3 或按 Ctrl+C 退出后，下次运行仍可选择本次记录继续。
 
 ① 当前是【野外部署阶段】（回复 1）还是【办公室测试阶段】（回复 2）？
 > 2
 
+在第②步之前发现以下历史标定记录（最新的排在前面）：
+1. 2026-09-10T10:20:30+08:00，安装方式=办公室正放，左上角=有，右下角=有，pan_step=有，tilt_step=无
+2. 2026-09-09T16:10:00+08:00，安装方式=野外倒挂，左上角=有，右下角=无，pan_step=无，tilt_step=无
+输入对应序号复用；回复 0 不复用并新建；回复 q 退出。
+> 0
+
 ② 请在Web界面中设置左上角zoom，再手动把摄像头移到扫描区域的【左上角】。
-到位后回复 1；回复 3 随时退出。
+摄像头到位后回复 1 读取当前位置；也可以直接输入pan、tilt、zoom；回复 3 随时退出。
 > 1
 已读取: pan=19120 (191.20°), tilt=990 (9.90°), zoom=810 (8.10×)
 
 ③ 请手动把摄像头移到扫描区域的【右下角】。
-右下角可以使用不同zoom，程序会取两个角点zoom的平均值作为最终扫描zoom。
-到位后回复 1；回复 3 随时退出。
-> 1
-已读取: pan=13420 (134.20°), tilt=-340 (-3.40°), zoom=810 (8.10×)
+右下角可以使用不同zoom，程序会从两个角点zoom的平均值向上选择最近可达的最终扫描zoom。
+摄像头到位后回复 1 读取当前位置；也可以直接输入pan、tilt、zoom；回复 3 随时退出。
+> pan=13420 (134.20°), tilt=-340 (-3.40°), zoom=810 (8.10×)
+已采用手动输入: pan=13420 (134.20°), tilt=-340 (-3.40°), zoom=810 (8.10×)
 
 ④ 这一步用于测量当前zoom下的水平/垂直视场。
 请把摄像头移到扫描区域内部、距离较远且纹理分布在整幅画面的位置。
@@ -176,8 +188,11 @@ smart-cam的HTTP接口读取PTZ并记录，等价于：
 ./calibrate.sh mark bottom-right
 ```
 
-向导会显示两个角点的zoom，并取算术平均值作为最终扫描zoom。第四步开始测量前，
-程序会自动把镜头切换到该平均zoom，因此视场标定与最终配置使用同一焦段。
+向导会显示两个角点的zoom，并以算术平均值作为选择最终扫描zoom的下界。第四步开始测量前，
+程序会自动把镜头切换到该平均zoom；即使摄像头当前已经显示为这个zoom，也会明确下发一次
+绝对zoom命令并回读。若算术平均值不是摄像头可达档位，程序会在平均值上方查找最近的可达档位，
+例如平均值`4565`只能落到`4550`或`4580`时采用`4580`。视场标定和最终生成配置都会使用
+回读确认的同一个可达zoom，不会再把不可达平均值写入配置。
 
 ### ④ 自动计算pan_step和tilt_step
 
@@ -211,8 +226,22 @@ smart-cam的HTTP接口读取PTZ并记录，等价于：
 
 不要把画面对准纯天空、纯墙、纯水面、玻璃、近距离物体或重复图案。水面场景应让岸线、
 浮标等固定物体横向分布在画面中，不能只依赖不断变化的水纹。
-测量过程中程序会锁定两个角点的平均zoom；自动对焦不影响zoom。标定失败时可以只更换第四步的位置重试，
-不需要重新记录左上角和右下角。
+测量过程中程序会锁定上述实际可达的扫图zoom；自动对焦不影响zoom。标定失败时可以只更换
+第四步的位置重试，不需要重新记录左上角和右下角。pan或tilt任一方向已经成功时会立刻保存，
+另一方向失败或退出后，下次可以只继续尚未完成的方向。
+
+### 历史记录复用
+
+进入第②步前，向导会读取`history/session_*.json`并按时间倒序编号，逐条显示是否已经包含：
+
+- 左上角位置；
+- 右下角位置；
+- `pan_step`；
+- `tilt_step`。
+
+输入序号后，已有角点会直接跳过；只有一个角点时只补录另一个；只有一个轴的step时只补测另一个。
+如果四项都齐全，向导会询问直接复用还是重新测量step。复用会建立一条新的本次记录，原历史文件
+不会被覆盖。升级前已有的`calibration.json`也会自动导入历史记录一次。
 
 ### ⑤ 显示最终参数
 

interactive_calibrator.py

@@ -5,6 +5,7 @@ from __future__ import annotations
 
 import argparse
 from contextlib import redirect_stdout
+from copy import deepcopy
 from datetime import datetime
 import io
 import json
@@ -21,6 +22,7 @@ import scan_calibrator as core
 
 
 ROOT = Path(__file__).resolve().parent
+HISTORY_DIR = ROOT / "history"
 CONFIG_PATH = "/smart-cam/config/config.json"
 # The grid contact sheet is the final calibration check. Horizontal seams on
 # the tested PTZ camera retain more real-world overlap than the center-shift
@@ -31,6 +33,7 @@ RED = "\033[31m"
 GREEN = "\033[32m"
 YELLOW = "\033[33m"
 RESET = "\033[0m"
+ACTIVE_HISTORY_FILE: Path | None = None
 
 
 class Cancelled(Exception):
@@ -51,6 +54,58 @@ def choose(question: str, choices: set[str]) -> str:
         say(f"请输入 {' / '.join(sorted(choices | {'3'}))}。", color=YELLOW)
 
 
+def valid_ptz(ptz: object) -> bool:
+    if not isinstance(ptz, dict):
+        return False
+    try:
+        pan = int(ptz["pan"])
+        tilt = int(ptz["tilt"])
+        zoom = int(ptz["zoom"])
+    except (KeyError, TypeError, ValueError):
+        return False
+    return 0 <= pan <= 36000 and -18000 <= tilt <= 18000 and zoom > 0
+
+
+def parse_ptz_input(value: str) -> dict[str, int]:
+    """Parse PTZ copied from this tool, with or without display annotations."""
+    result: dict[str, int] = {}
+    for name in ("pan", "tilt", "zoom"):
+        match = re.search(
+            rf"(?:^|[,，;；\s]){name}\s*=\s*(-?\d+)",
+            value,
+            flags=re.IGNORECASE,
+        )
+        if match:
+            result[name] = int(match.group(1))
+    if not valid_ptz(result):
+        raise ValueError(
+            "格式应为 pan=21720, tilt=1268, zoom=4580；"
+            "也可以直接粘贴带角度和倍数的完整输出"
+        )
+    return result
+
+
+def capture_position(question: str) -> dict[str, int]:
+    while True:
+        answer = input(
+            f"\n{question}\n"
+            "摄像头到位后回复 1 读取当前位置；也可以直接输入 "
+            "pan=21720 (217.20°), tilt=1268 (12.68°), zoom=4580 (45.80×)；"
+            "回复 3 随时退出。\n> "
+        ).strip()
+        if answer == "3":
+            raise Cancelled
+        if answer == "1":
+            return camera_ptz()
+        try:
+            ptz = parse_ptz_input(answer)
+        except ValueError as exc:
+            say(f"输入无效：{exc}", color=YELLOW)
+            continue
+        core.print_ptz(ptz, "已采用手动输入")
+        return ptz
+
+
 def confirm_position(question: str) -> None:
     choose(f"{question}\n到位后回复 1；回复 3 随时退出。", {"1"})
 
@@ -61,6 +116,148 @@ def camera_ptz() -> dict[str, int]:
     return ptz
 
 
+def substantive_state(state: dict) -> dict:
+    """Return reusable calibration data, excluding per-session metadata."""
+    return {
+        key: deepcopy(state[key])
+        for key in ("points", "steps", "scan_zoom", "scan_zoom_average", "mount")
+        if key in state
+    }
+
+
+def state_fingerprint(state: dict) -> str:
+    return json.dumps(substantive_state(state), ensure_ascii=False, sort_keys=True)
+
+
+def write_json_atomic(path: Path, value: dict) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    temporary = path.with_name(f".{path.name}.tmp")
+    temporary.write_text(
+        json.dumps(value, ensure_ascii=False, indent=2), encoding="utf-8"
+    )
+    temporary.replace(path)
+
+
+def load_history_records() -> list[tuple[Path, dict]]:
+    """Load sessions and import a pre-upgrade calibration.json when needed."""
+    HISTORY_DIR.mkdir(parents=True, exist_ok=True)
+    records: list[tuple[Path, dict]] = []
+    fingerprints: set[str] = set()
+    for path in sorted(HISTORY_DIR.glob("session_*.json")):
+        try:
+            state = json.loads(path.read_text(encoding="utf-8"))
+        except (OSError, json.JSONDecodeError) as exc:
+            say(f"忽略无法读取的历史记录 {path.name}：{exc}", color=YELLOW)
+            continue
+        if not isinstance(state, dict):
+            continue
+        records.append((path, state))
+        fingerprints.add(state_fingerprint(state))
+
+    if core.STATE_FILE.exists():
+        try:
+            current = json.loads(core.STATE_FILE.read_text(encoding="utf-8"))
+        except (OSError, json.JSONDecodeError):
+            current = None
+        if (
+            isinstance(current, dict)
+            and any(substantive_state(current).get(key) for key in ("points", "steps"))
+            and state_fingerprint(current) not in fingerprints
+        ):
+            stamp = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
+            recovered = deepcopy(current)
+            recovered.setdefault("_session", {})
+            recovered["_session"].update({
+                "id": f"recovered_{stamp}",
+                "created_at": recovered.get("updated_at")
+                or datetime.now().astimezone().isoformat(timespec="seconds"),
+                "source": "calibration.json升级前记录",
+            })
+            path = HISTORY_DIR / f"session_{stamp}_recovered.json"
+            write_json_atomic(path, recovered)
+            records.append((path, recovered))
+
+    return sorted(
+        records,
+        key=lambda item: str(
+            item[1].get("_session", {}).get("created_at")
+            or item[1].get("updated_at")
+            or item[0].name
+        ),
+        reverse=True,
+    )
+
+
+def state_item_exists(state: dict, section: str, name: str) -> bool:
+    value = state.get(section, {}).get(name)
+    if section == "points":
+        return valid_ptz(value)
+    return isinstance(value, dict) and bool(value)
+
+
+def select_history_record(
+    records: list[tuple[Path, dict]],
+) -> tuple[Path, dict] | None:
+    if not records:
+        say("\n未发现可复用的历史标定记录，将开始一条新记录。")
+        return None
+
+    say("\n在第②步之前发现以下历史标定记录（最新的排在前面）：")
+    for index, (path, state) in enumerate(records, start=1):
+        session = state.get("_session", {})
+        when = session.get("created_at") or state.get("updated_at") or path.stem
+        mount = {"hanging": "野外倒挂", "desktop": "办公室正放"}.get(
+            state.get("mount"), "未记录"
+        )
+        say(
+            f"{index}. {when}，安装方式={mount}，"
+            f"左上角={'有' if state_item_exists(state, 'points', 'top-left') else '无'}，"
+            f"右下角={'有' if state_item_exists(state, 'points', 'bottom-right') else '无'}，"
+            f"pan_step={'有' if state_item_exists(state, 'steps', 'pan') else '无'}，"
+            f"tilt_step={'有' if state_item_exists(state, 'steps', 'tilt') else '无'}"
+        )
+    while True:
+        answer = input(
+            "\n输入对应序号复用；回复 0 不复用并新建；回复 q 退出。"
+            "此处数字 3 表示第3条记录（如果存在）。\n> "
+        ).strip().lower()
+        if answer in {"q", "quit", "退出"}:
+            raise Cancelled
+        if answer == "0":
+            return None
+        if answer.isdigit() and 1 <= int(answer) <= len(records):
+            return records[int(answer) - 1]
+        say(f"请输入 0、1～{len(records)} 或 q。", color=YELLOW)
+
+
+def start_history_session(
+    mount: str, selected: tuple[Path, dict] | None
+) -> dict:
+    global ACTIVE_HISTORY_FILE
+    stamp = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
+    source_path, source_state = selected if selected else (None, {})
+    state = substantive_state(source_state)
+    state.setdefault("points", {})
+    state.setdefault("steps", {})
+    state["mount"] = mount
+    state["_session"] = {
+        "id": stamp,
+        "created_at": datetime.now().astimezone().isoformat(timespec="seconds"),
+        **({"reused_from": source_path.name} if source_path else {}),
+    }
+    ACTIVE_HISTORY_FILE = HISTORY_DIR / f"session_{stamp}.json"
+    save_working_state(state)
+    return state
+
+
+def save_working_state(state: dict) -> None:
+    session = state.setdefault("_session", {})
+    session["updated_at"] = datetime.now().astimezone().isoformat(timespec="seconds")
+    core.save_state(state)
+    if ACTIVE_HISTORY_FILE is not None:
+        write_json_atomic(ACTIVE_HISTORY_FILE, state)
+
+
 def remove_session_snapshots(paths: set[str]) -> None:
     for path in sorted(paths):
         if not path.startswith((
@@ -492,22 +689,77 @@ def estimate_axis(axis: str, origin: dict[str, int], points: dict,
     }
 
 
-def calculate_steps(points: dict, snapshots: set[str], mount: str) -> None:
+def read_zoom_after_move(origin: dict[str, int], requested_zoom: int) -> dict[str, int]:
+    core.move({**origin, "zoom": requested_zoom})
+    time.sleep(1.0)
+    return core.get_ptz()
+
+
+def move_to_scan_zoom(points: dict) -> tuple[dict[str, int], float]:
+    """Always move to the smallest reachable zoom at or above the mean."""
     origin = camera_ptz()
     zooms = [int(points[name]["zoom"]) for name in ("top-left", "bottom-right")]
-    target_zoom = round(sum(zooms) / len(zooms))
-    if origin["zoom"] != target_zoom:
-        say(
-            f"两个角点zoom的平均值为{target_zoom}（{target_zoom/100:.2f}×）；"
-            "正在自动切换到该zoom后再测量视场……"
-        )
-        origin = core.move({**origin, "zoom": target_zoom})
-        time.sleep(1.0)
-        if abs(int(origin["zoom"]) - target_zoom) > 10:
+    average_zoom = sum(zooms) / len(zooms)
+    minimum_zoom = math.ceil(average_zoom)
+    say(
+        f"两个角点zoom的平均值为{average_zoom:g}（{average_zoom/100:.3f}×）；"
+        "正在自动切换到该zoom。若平均值不可达，将向上取最近的可达档位……"
+    )
+
+    # Sending the command is intentional even when the current zoom appears
+    # equal: Step 4 must start from a confirmed camera-reported scan zoom.
+    actual = read_zoom_after_move(origin, minimum_zoom)
+    if int(actual["zoom"]) < minimum_zoom:
+        low_request = minimum_zoom
+        high_request = max(zooms)
+        if high_request <= low_request:
             core.fail(
-                f"摄像头未能到达平均zoom：目标={target_zoom}，实际={origin['zoom']}"
+                f"平均zoom={average_zoom:g}不可达，且没有更大的角点zoom可用于查找"
             )
-        core.print_ptz(origin, "平均zoom到位")
+
+        high_actual = read_zoom_after_move(origin, high_request)
+        if int(high_actual["zoom"]) < minimum_zoom:
+            core.fail(
+                f"无法找到大于平均值的可达zoom：平均={average_zoom:g}，"
+                f"请求上界={high_request}，实际={high_actual['zoom']}"
+            )
+
+        # Absolute zoom response is monotonic. Find the first request that
+        # crosses the mean, while retaining the smallest camera-reported zoom.
+        best_zoom = int(high_actual["zoom"])
+        while low_request + 1 < high_request:
+            probe = (low_request + high_request) // 2
+            probe_actual = read_zoom_after_move(origin, probe)
+            observed = int(probe_actual["zoom"])
+            if observed >= minimum_zoom:
+                high_request = probe
+                best_zoom = min(best_zoom, observed)
+            else:
+                low_request = probe
+        actual = read_zoom_after_move(origin, best_zoom)
+
+    selected_zoom = int(actual["zoom"])
+    if selected_zoom < minimum_zoom:
+        core.fail(
+            f"摄像头回读zoom={selected_zoom}，小于要求的平均值{average_zoom:g}"
+        )
+    core.print_ptz(actual, "扫图zoom到位")
+    if selected_zoom != average_zoom:
+        say(
+            f"平均zoom={average_zoom:g}不是可达档位；"
+            f"已向上采用最近可达zoom={selected_zoom}（{selected_zoom/100:.2f}×）。"
+        )
+    return actual, average_zoom
+
+
+def calculate_steps(
+    points: dict,
+    snapshots: set[str],
+    mount: str,
+    axes: set[str] | None = None,
+) -> None:
+    requested_axes = set(axes or {"pan", "tilt"})
+    origin, average_zoom = move_to_scan_zoom(points)
     top_left = points["top-left"]
     bottom_right = points["bottom-right"]
     # This check is only advisory and runs before signed pan direction has
@@ -533,8 +785,30 @@ def calculate_steps(points: dict, snapshots: set[str], mount: str) -> None:
             color=YELLOW,
         )
     state = core.load_state()
-    pan_info = estimate_axis("pan", origin, points, snapshots)
-    tilt_info = estimate_axis("tilt", origin, points, snapshots)
+    state["scan_zoom"] = int(origin["zoom"])
+    state["scan_zoom_average"] = average_zoom
+    for axis in ("pan", "tilt"):
+        existing_zoom = state.get("steps", {}).get(axis, {}).get("zoom")
+        if axis not in requested_axes and (
+            existing_zoom is None or int(existing_zoom) != int(origin["zoom"])
+        ):
+            say(
+                f"历史{axis}_step是在zoom={existing_zoom or '未知'}下测得，"
+                f"与本次扫图zoom={origin['zoom']}不一致，将重新标定。",
+                color=YELLOW,
+            )
+            requested_axes.add(axis)
+    save_working_state(state)
+
+    if "pan" in requested_axes:
+        state["steps"]["pan"] = estimate_axis("pan", origin, points, snapshots)
+        save_working_state(state)
+    if "tilt" in requested_axes:
+        state["steps"]["tilt"] = estimate_axis("tilt", origin, points, snapshots)
+        save_working_state(state)
+
+    pan_info = state["steps"]["pan"]
+    tilt_info = state["steps"]["tilt"]
     pan_info, cross_axis_message = constrain_pan_with_tilt(
         pan_info, tilt_info, configured_image_aspect_ratio()
     )
@@ -543,7 +817,7 @@ def calculate_steps(points: dict, snapshots: set[str], mount: str) -> None:
     ))
     state["steps"]["pan"] = pan_info
     state["steps"]["tilt"] = tilt_info
-    core.save_state(state)
+    save_working_state(state)
 
 
 def generate(mount: str) -> tuple[dict, Path, str]:
@@ -690,14 +964,54 @@ def run_panorama(scan_status: dict, mount: str, pan_direction: str) -> Path:
     return output
 
 
+def reusable_step_axes(state: dict, points: dict) -> set[str]:
+    average_zoom = sum(
+        int(points[name]["zoom"]) for name in ("top-left", "bottom-right")
+    ) / 2
+    minimum_zoom = math.ceil(average_zoom)
+    scan_zoom = state.get("scan_zoom")
+    if scan_zoom is None:
+        measured_zooms: set[int] = set()
+        for info in state.get("steps", {}).values():
+            if not isinstance(info, dict) or info.get("zoom") is None:
+                continue
+            try:
+                measured_zooms.add(int(info["zoom"]))
+            except (TypeError, ValueError):
+                continue
+        if len(measured_zooms) == 1 and next(iter(measured_zooms)) >= minimum_zoom:
+            scan_zoom = next(iter(measured_zooms))
+            state["scan_zoom"] = scan_zoom
+            state["scan_zoom_average"] = average_zoom
+    try:
+        scan_zoom = int(scan_zoom)
+    except (TypeError, ValueError):
+        return set()
+    if scan_zoom < minimum_zoom:
+        return set()
+    reusable: set[str] = set()
+    for axis in ("pan", "tilt"):
+        info = state.get("steps", {}).get(axis)
+        if not isinstance(info, dict):
+            continue
+        try:
+            measured_zoom = int(info.get("zoom", -1))
+        except (TypeError, ValueError):
+            continue
+        if measured_zoom == scan_zoom:
+            reusable.add(axis)
+    return reusable
+
+
 def main() -> None:
-    original_state = core.STATE_FILE.read_bytes() if core.STATE_FILE.exists() else None
     snapshots: set[str] = set()
-    generated: Path | None = None
-    success = False
     try:
         say("您好！我们现在开始配置扫图参数！", color=GREEN)
-        say("在接下来的对话中，回复 3 会立即结束，并清理本次向导产生的标定痕迹。")
+        say(
+            "标定进度会逐步保存；中途回复 3 或按 Ctrl+C 退出后，"
+            "下次运行仍可选择本次记录继续。"
+        )
+        history_records = load_history_records()
 
         stage = choose(
             "① 当前是【野外部署阶段】（回复 1）还是"
@@ -705,53 +1019,88 @@ def main() -> None:
             {"1", "2"},
         )
         mount = "hanging" if stage == "1" else "desktop"
+        selected = select_history_record(history_records)
+        state = start_history_session(mount, selected)
+        if selected:
+            say(f"已复用历史记录 {selected[0].name}；本次进度另存为一条新记录。")
 
-        confirm_position(
-            "② 请在Web界面中设置左上角需要的zoom，"
-            "再手动把摄像头移到扫描区域的【左上角】。"
-        )
-        top_left = camera_ptz()
-        state = core.load_state()
-        state["points"]["top-left"] = top_left
-        core.save_state(state)
+        if valid_ptz(state["points"].get("top-left")):
+            top_left = state["points"]["top-left"]
+            core.print_ptz(top_left, "② 已复用左上角")
+        else:
+            top_left = capture_position(
+                "② 请在Web界面中设置左上角需要的zoom，"
+                "再手动把摄像头移到扫描区域的【左上角】。"
+            )
+            state["points"]["top-left"] = top_left
+            state["steps"] = {}
+            state.pop("scan_zoom", None)
+            state.pop("scan_zoom_average", None)
+            save_working_state(state)
 
-        confirm_position(
-            "③ 请手动把摄像头移到扫描区域的【右下角】。\n"
-            "右下角可以使用不同zoom，程序会取两个角点zoom的平均值作为最终扫描zoom。"
-        )
-        bottom_right = camera_ptz()
-        average_zoom = round((top_left["zoom"] + bottom_right["zoom"]) / 2)
+        if valid_ptz(state["points"].get("bottom-right")):
+            bottom_right = state["points"]["bottom-right"]
+            core.print_ptz(bottom_right, "③ 已复用右下角")
+        else:
+            bottom_right = capture_position(
+                "③ 请手动把摄像头移到扫描区域的【右下角】。\n"
+                "右下角可以使用不同zoom；第四步会取两个角点zoom的平均值，"
+                "若平均值不可达则向上取最近可达档位。"
+            )
+            state["points"]["bottom-right"] = bottom_right
+            state["steps"] = {}
+            state.pop("scan_zoom", None)
+            state.pop("scan_zoom_average", None)
+            save_working_state(state)
+
+        average_zoom = (top_left["zoom"] + bottom_right["zoom"]) / 2
         say(
             f"两个角点zoom：左上={top_left['zoom']/100:.2f}×，"
             f"右下={bottom_right['zoom']/100:.2f}×；"
-            f"最终取平均={average_zoom/100:.2f}×。"
+            f"算术平均={average_zoom/100:.3f}×。"
         )
-        state = core.load_state()
-        state["points"]["bottom-right"] = bottom_right
-        core.save_state(state)
+        points = state["points"]
+        available_axes = reusable_step_axes(state, points)
+        if available_axes == {"pan", "tilt"}:
+            save_working_state(state)
+            use_steps = choose(
+                "④ 该历史记录已有同一扫图zoom下的pan_step和tilt_step。\n"
+                "直接复用回复 1；在当前画面重新测量回复 2；回复 3 退出。",
+                {"1", "2"},
+            )
+            if use_steps == "2":
+                state["steps"] = {}
+                state.pop("scan_zoom", None)
+                state.pop("scan_zoom_average", None)
+                save_working_state(state)
+                available_axes = set()
 
-        points = core.load_state()["points"]
-        while True:
+        while available_axes != {"pan", "tilt"}:
+            missing_axes = {"pan", "tilt"} - available_axes
             confirm_position(
-                "④ 这一步用于测量当前zoom下的水平/垂直视场。\n"
+                "④ 这一步用于测量当前扫图zoom下的水平/垂直视场。\n"
                 "请优先把摄像头移到扫描区域内部、"
                 "距离较远且纹理分布在整幅画面的位置。\n"
                 "请避开纯天空、纯墙面、纯水面、玻璃、近距离物体和重复图案；"
                 "水面场景需要让岸线、浮标或其他固定物体横向分布在画面中；"
-                "回复1后不要再操作Web云台，程序会先切换到两个角点的平均zoom，"
-                "再自动移动、拍照并返回起点。"
+                "回复1后不要再操作Web云台。无论当前zoom是多少，程序都会先切换到"
+                "两个角点的平均zoom；若平均值不可达就向上取最近可达档位，"
+                f"然后测量{'+'.join(sorted(missing_axes))}并返回起点。"
             )
             say("\n正在计算，请不要操作摄像头或Web控制页面……")
             try:
-                calculate_steps(points, snapshots, mount)
-                break
+                calculate_steps(points, snapshots, mount, missing_axes)
+                state = core.load_state()
+                available_axes = reusable_step_axes(state, points)
             except SystemExit as exc:
                 say(f"\n本次视场标定没有通过：{exc}", color=RED)
                 choose(
                     "请根据上方逐项失败原因调整位置后重试第四步，两个角点无需重录。\n"
-                    "重新尝试回复 1；结束对话回复 3。",
+                    "已成功完成的单轴结果已经保存。重新尝试回复 1；结束对话回复 3。",
                     {"1"},
                 )
+                state = core.load_state()
+                available_axes = reusable_step_axes(state, points)
         scan, generated, detail = generate(mount)
         say("\n⑤ 本次得到的扫图参数：", color=GREEN)
         say(json.dumps(scan, ensure_ascii=False, indent=2))
@@ -792,27 +1141,15 @@ def main() -> None:
                     raise RuntimeError("缺少本次实测pan方向，无法可靠排列拼图左右顺序")
                 panorama = run_panorama(scan_status, mount, pan_direction)
                 say(f"\n拼图完成。\n大图存储位置：{panorama}", color=GREEN)
-        success = True
         say("\n配置向导已完成，对话结束。", color=GREEN)
     except Cancelled:
-        say("\n已结束对话，正在清理本次向导痕迹……", color=YELLOW)
+        say("\n已结束对话；当前标定进度和已生成结果均已保留，后续可以复用。", color=YELLOW)
     except (KeyboardInterrupt, EOFError):
-        say("\n对话被中断，正在清理本次向导痕迹……", color=YELLOW)
+        say("\n对话被中断；当前标定进度和已生成结果均已保留，后续可以复用。", color=YELLOW)
     except Exception as exc:
         say(f"\n向导失败：{exc}", color=RED)
     finally:
         remove_session_snapshots(snapshots)
-        if not success:
-            if original_state is None:
-                core.STATE_FILE.unlink(missing_ok=True)
-            else:
-                current_state = (
-                    core.STATE_FILE.read_bytes() if core.STATE_FILE.exists() else None
-                )
-                if current_state != original_state:
-                    core.STATE_FILE.write_bytes(original_state)
-            if generated is not None:
-                generated.unlink(missing_ok=True)
 
 
 if __name__ == "__main__":

scan_calibrator.py

@@ -525,7 +525,19 @@ def command_generate(args: argparse.Namespace) -> None:
                 f"相位响应={phase_response:.2f}）；"
                 f"请在纹理丰富且尽量远离摄像头的位置重新执行calibrate {axis}"
             )
-    zoom = round((int(top_left["zoom"]) + int(bottom_right["zoom"])) / 2)
+    arithmetic_zoom = (int(top_left["zoom"]) + int(bottom_right["zoom"])) / 2
+    # The interactive wizard records the exact camera-reported zoom used for
+    # FOV measurement. Prefer it because many PTZ cameras expose quantized zoom
+    # positions and cannot reach the arithmetic mean exactly.
+    try:
+        zoom = int(state["scan_zoom"])
+    except (KeyError, TypeError, ValueError):
+        zoom = round(arithmetic_zoom)
+    if "scan_zoom" in state and zoom < math.ceil(arithmetic_zoom):
+        fail(
+            f"保存的scan_zoom={zoom}小于两个角点平均值{arithmetic_zoom:g}；"
+            "请重新执行交互向导第四步"
+        )
     pan_start, pan_end, pan_span, visual_pan_direction = scan_pan_range(
         int(top_left["pan"]),
         int(bottom_right["pan"]),

tests/test_scan_calibrator.py

@@ -1,11 +1,16 @@
 from __future__ import annotations
 
+import argparse
 from contextlib import redirect_stderr
 import io
+import json
+from pathlib import Path
 import subprocess
+import tempfile
 import unittest
 from unittest import mock
 
+import interactive_calibrator as wizard
 import scan_calibrator as core
 
 
@@ -107,5 +112,132 @@ class ApiRecoveryTests(unittest.TestCase):
         self.assertEqual(move_mock.call_count, 2)
 
 
+class InteractiveWizardTests(unittest.TestCase):
+    def test_manual_ptz_accepts_annotated_display_format(self):
+        self.assertEqual(
+            wizard.parse_ptz_input(
+                "pan=21720 (217.20°), tilt=1268 (12.68°), "
+                "zoom=4580 (45.80×)"
+            ),
+            {"pan": 21720, "tilt": 1268, "zoom": 4580},
+        )
+
+    def test_manual_ptz_rejects_incomplete_input(self):
+        with self.assertRaisesRegex(ValueError, "pan=21720"):
+            wizard.parse_ptz_input("pan=21720, tilt=1268")
+
+    @mock.patch("interactive_calibrator.core.print_ptz")
+    @mock.patch("interactive_calibrator.camera_ptz")
+    @mock.patch("interactive_calibrator.read_zoom_after_move")
+    def test_unreachable_average_uses_nearest_higher_zoom(
+        self, move_mock, camera_mock, _print_mock
+    ):
+        origin = {"pan": 23052, "tilt": 1298, "zoom": 4510}
+        camera_mock.return_value = origin
+
+        def quantized(_origin, requested):
+            return {
+                **origin,
+                "zoom": 4550 if requested <= 4565 else 4580,
+            }
+
+        move_mock.side_effect = quantized
+        actual, average = wizard.move_to_scan_zoom({
+            "top-left": {**origin, "zoom": 4550},
+            "bottom-right": {**origin, "zoom": 4580},
+        })
+
+        self.assertEqual(average, 4565)
+        self.assertEqual(actual["zoom"], 4580)
+        self.assertEqual(move_mock.call_args_list[0].args[1], 4565)
+        self.assertEqual(move_mock.call_args_list[-1].args[1], 4580)
+
+    @mock.patch("interactive_calibrator.core.print_ptz")
+    @mock.patch("interactive_calibrator.camera_ptz")
+    @mock.patch("interactive_calibrator.read_zoom_after_move")
+    def test_step_four_always_sends_zoom_even_when_already_equal(
+        self, move_mock, camera_mock, _print_mock
+    ):
+        origin = {"pan": 100, "tilt": 200, "zoom": 4580}
+        camera_mock.return_value = origin
+        move_mock.return_value = origin
+
+        actual, _average = wizard.move_to_scan_zoom({
+            "top-left": origin,
+            "bottom-right": origin,
+        })
+
+        self.assertEqual(actual["zoom"], 4580)
+        move_mock.assert_called_once_with(origin, 4580)
+
+    def test_partial_session_is_saved_to_history(self):
+        with tempfile.TemporaryDirectory() as temporary:
+            root = Path(temporary)
+            history = root / "history"
+            state_file = root / "calibration.json"
+            with (
+                mock.patch.object(wizard, "HISTORY_DIR", history),
+                mock.patch.object(wizard, "ACTIVE_HISTORY_FILE", None),
+                mock.patch.object(core, "STATE_FILE", state_file),
+            ):
+                state = wizard.start_history_session("hanging", None)
+                state["points"]["top-left"] = {
+                    "pan": 21720,
+                    "tilt": 1268,
+                    "zoom": 4580,
+                }
+                wizard.save_working_state(state)
+
+                records = wizard.load_history_records()
+
+            self.assertEqual(len(records), 1)
+            self.assertTrue(
+                wizard.state_item_exists(records[0][1], "points", "top-left")
+            )
+            self.assertFalse(
+                wizard.state_item_exists(records[0][1], "points", "bottom-right")
+            )
+
+
+class GenerateZoomTests(unittest.TestCase):
+    def test_generate_uses_camera_reachable_scan_zoom(self):
+        state = {
+            "points": {
+                "top-left": {"pan": 1000, "tilt": 200, "zoom": 4550},
+                "bottom-right": {"pan": 900, "tilt": 100, "zoom": 4580},
+            },
+            "steps": {
+                "pan": {
+                    "value": 50,
+                    "overlap": 0.04,
+                    "target_overlap": 0.04,
+                    "overlap_method": "axis_shift_v1_retargeted",
+                    "inliers": 50,
+                    "visual_direction": "decreasing",
+                },
+                "tilt": {
+                    "value": 50,
+                    "overlap": 0.04,
+                    "target_overlap": 0.04,
+                    "overlap_method": "axis_shift_v1_retargeted",
+                    "inliers": 50,
+                },
+            },
+            "scan_zoom": 4580,
+        }
+        with tempfile.TemporaryDirectory() as temporary:
+            root = Path(temporary)
+            with (
+                mock.patch.object(core, "ROOT", root),
+                mock.patch.object(core, "load_state", return_value=state),
+            ):
+                with mock.patch("sys.stdout", new=io.StringIO()):
+                    core.command_generate(argparse.Namespace(mount="desktop"))
+            result = next((root / "result").glob("scan_config_*.json"))
+            generated = json.loads(result.read_text(encoding="utf-8"))
+
+        self.assertEqual(generated["scan"]["zoom"], 4580)
+
+
 if __name__ == "__main__":
     unittest.main()