新增 ROI 对齐基础能力并打通到算子与 UI。

统一补齐对齐核心工具类、RoiAlignment 算子、模板匹配对齐扩展和多语言资源，便于在检测前稳定完成示教 ROI 到运行图的变换。 Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-01 17:04:32 +08:00
parent b0397365b2
commit 1874c4a5bb
15 changed files with 790 additions and 1 deletions
@@ -0,0 +1,130 @@
+// ============================================================================
+// Copyright © 2026 Hexagon Technology Center GmbH. All Rights Reserved.
+// 文件名: RoiAlignmentProcessor.cs
+// 描述: 示教多边形 ROI 刚体对齐（平移+旋转）
+//
+// 流水线约定:
+//   输入: 示教 Poly* + ReferencePose(Ref*) + 上一步模板匹配的 MeasuredPose(Measured*)
+//   输出: OutputData 中含变换后的 PolyCount/PolyX/PolyY/RoiMode，可拷贝到 VoidMeasurement 等算子
+//   或: 流水线直接调用 XP.ImageProcessing.Core.Alignment.RoiAlignmentApplier
+// ============================================================================
+
+using Emgu.CV;
+using Emgu.CV.Structure;
+using XP.ImageProcessing.Core;
+using XP.ImageProcessing.Core.Alignment;
+using Serilog;
+
+namespace XP.ImageProcessing.Processors;
+
+/// <summary>
+/// 将示教图上的多边形 ROI 变换到当前图（不修改图像，仅输出对齐后的 ROI 参数）。
+/// </summary>
+public class RoiAlignmentProcessor : ImageProcessorBase
+{
+    private static readonly ILogger _logger = Log.ForContext<RoiAlignmentProcessor>();
+
+    public RoiAlignmentProcessor()
+    {
+        Name = LocalizationHelper.GetString("RoiAlignmentProcessor_Name");
+        Description = LocalizationHelper.GetString("RoiAlignmentProcessor_Description");
+    }
+
+    protected override void InitializeParameters()
+    {
+        Parameters.Add("RefCenterX", new ProcessorParameter(
+            "RefCenterX",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefCenterX"),
+            typeof(double), 0.0, null, null,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefCenterX_Desc")));
+
+        Parameters.Add("RefCenterY", new ProcessorParameter(
+            "RefCenterY",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefCenterY"),
+            typeof(double), 0.0, null, null,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefCenterY_Desc")));
+
+        Parameters.Add("RefAngle", new ProcessorParameter(
+            "RefAngle",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefAngle"),
+            typeof(double), 0.0, -180.0, 180.0,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_RefAngle_Desc")));
+
+        Parameters.Add("MeasuredCenterX", new ProcessorParameter(
+            "MeasuredCenterX",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredCenterX"),
+            typeof(double), 0.0, null, null,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredCenterX_Desc")));
+
+        Parameters.Add("MeasuredCenterY", new ProcessorParameter(
+            "MeasuredCenterY",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredCenterY"),
+            typeof(double), 0.0, null, null,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredCenterY_Desc")));
+
+        Parameters.Add("MeasuredAngle", new ProcessorParameter(
+            "MeasuredAngle",
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredAngle"),
+            typeof(double), 0.0, -180.0, 180.0,
+            LocalizationHelper.GetString("RoiAlignmentProcessor_MeasuredAngle_Desc")));
+
+        Parameters.Add(RoiPolygonParameterNames.PolyCount, new ProcessorParameter(
+            RoiPolygonParameterNames.PolyCount,
+            RoiPolygonParameterNames.PolyCount,
+            typeof(int), 0, null, null,
+            "") { IsVisible = false });
+
+        for (int i = 0; i < RoiPolygonParameterNames.MaxPoints; i++)
+        {
+            Parameters.Add(RoiPolygonParameterNames.PolyX(i), new ProcessorParameter(
+                RoiPolygonParameterNames.PolyX(i),
+                RoiPolygonParameterNames.PolyX(i),
+                typeof(int), 0, null, null,
+                "") { IsVisible = false });
+
+            Parameters.Add(RoiPolygonParameterNames.PolyY(i), new ProcessorParameter(
+                RoiPolygonParameterNames.PolyY(i),
+                RoiPolygonParameterNames.PolyY(i),
+                typeof(int), 0, null, null,
+                "") { IsVisible = false });
+        }
+    }
+
+    public override Image<Gray, byte> Process(Image<Gray, byte> inputImage)
+    {
+        OutputData.Clear();
+
+        var reference = new Pose2D(
+            GetParameter<double>("RefCenterX"),
+            GetParameter<double>("RefCenterY"),
+            GetParameter<double>("RefAngle"));
+
+        var measured = new Pose2D(
+            GetParameter<double>("MeasuredCenterX"),
+            GetParameter<double>("MeasuredCenterY"),
+            GetParameter<double>("MeasuredAngle"));
+
+        var paramDict = Parameters.ToDictionary(p => p.Key, p => p.Value.Value);
+        var teachPoints = RoiAlignmentApplier.ReadTeachPolygon(paramDict);
+
+        var result = RoiAlignmentApplier.Apply(reference, teachPoints, measured);
+        RoiAlignmentApplier.WriteToOutputData(OutputData, result);
+        OutputData[RoiAlignmentOutputKeys.Success] = result.Success;
+        if (!string.IsNullOrEmpty(result.ErrorMessage))
+            OutputData[RoiAlignmentOutputKeys.Message] = result.ErrorMessage!;
+
+        OutputData["ResultText"] = OutputData[RoiAlignmentOutputKeys.ResultText] = result.Success
+            ? $"ROI aligned: {result.TransformedPointsInt.Count} pts"
+            : $"ROI align failed: {result.ErrorMessage}";
+
+        if (result.Success)
+            _logger.Debug("RoiAlignment: {Count} points, ref=({Rx:F1},{Ry:F1},{Ra:F1}) meas=({Mx:F1},{My:F1},{Ma:F1})",
+                result.TransformedPointsInt.Count,
+                reference.X, reference.Y, reference.AngleDegrees,
+                measured.X, measured.Y, measured.AngleDegrees);
+        else
+            _logger.Warning("RoiAlignment failed: {Msg}", result.ErrorMessage);
+
+        return inputImage.Clone();
+    }
+}
@@ -24,4 +24,19 @@ public static class TemplateMatchAlignmentExtensions
            result.LbX,
            result.LbY,
            tolerancePixels);
+
+    /// <summary>从 RotatedTemplateMatching 的 OutputData 读取测量位姿。</summary>
+    public static bool TryReadMeasuredPose(
+        IReadOnlyDictionary<string, object>? outputData,
+        out Pose2D measuredPose,
+        out string? errorMessage,
+        int matchIndex = 0)
+        => TemplateMatchOutputReader.TryReadMeasuredPose(outputData, out measuredPose, out errorMessage, matchIndex);
+
+    /// <summary>用匹配结果 + 示教配方一步得到对齐后的 ROI。</summary>
+    public static RoiAlignmentResult AlignRecipe(
+        AlignmentRecipe recipe,
+        IReadOnlyDictionary<string, object>? templateMatchOutput,
+        int matchIndex = 0)
+        => RoiAlignmentApplier.ApplyFromTemplateMatchOutput(recipe, templateMatchOutput, matchIndex);
 }