XplorePlane/XP.Calibration/Views/RotationCenterProgressWindow.xaml.cs

using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Emgu.CV;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
using XP.Calibration.Core;

namespace XP.Calibration.Views;

/// <summary>
/// 旋转中心检测实时显示窗口
/// </summary>
public partial class RotationCenterProgressWindow : Window
{
    private readonly int _plotSize = 800;
    private readonly List<CircleDetectionResult> _detections = new();
    private Image<Bgr, byte> _canvas;

    public RotationCenterProgressWindow()
    {
        InitializeComponent();
        _canvas = new Image<Bgr, byte>(_plotSize, _plotSize, new Bgr(0, 0, 0));
        DrawCrossHair();
        UpdateDisplay();
    }

    /// <summary>
    /// 添加一帧检测结果并更新显示 | Add detection result and update display
    /// </summary>
    public void AddDetection(CircleDetectionResult detection, int frameIndex, int totalFrames, int nDetecU, int nDetecV)
    {
        if (!detection.Success) return;
        _detections.Add(detection);

        // 在画布上绘制圆形标记（使用绝对坐标映射到画布）
        double scaleX = (double)_plotSize / nDetecU;
        double scaleY = (double)_plotSize / nDetecV;
        double scale = Math.Min(scaleX, scaleY);

        int cx = (int)(detection.AbsCenterX * scale);
        int cy = (int)(detection.AbsCenterY * scale);
        int r = (int)(detection.Radius * scale);

        // 画填充圆（白色标记物）
        CvInvoke.Circle(_canvas, new System.Drawing.Point(cx, cy), r, new MCvScalar(255, 255, 255), -1);
        // 画中心点
        CvInvoke.Circle(_canvas, new System.Drawing.Point(cx, cy), 2, new MCvScalar(0, 0, 0), -1);

        DrawCrossHair();
        UpdateDisplay();
        UpdateStatus($"Frame {frameIndex + 1}/{totalFrames} - OK (OffX={detection.OffsetX:F1}, OffY={detection.OffsetY:F1})",
            (double)(frameIndex + 1) / totalFrames * 100);
    }

    /// <summary>
    /// 显示拟合圆结果 | Show fitted circle result
    /// </summary>
    public void ShowFitResult(CircleFitResult fit, int nDetecU, int nDetecV)
    {
        double scaleX = (double)_plotSize / nDetecU;
        double scaleY = (double)_plotSize / nDetecV;
        double scale = Math.Min(scaleX, scaleY);

        // 拟合圆心（转换为绝对坐标后映射到画布）
        double absFitCx = fit.CenterX + nDetecU / 2.0;
        double absFitCy = fit.CenterY + nDetecV / 2.0;

        int fcx = (int)(absFitCx * scale);
        int fcy = (int)(absFitCy * scale);
        int fr = (int)(fit.Radius * scale);

        // 画拟合圆
        CvInvoke.Circle(_canvas, new System.Drawing.Point(fcx, fcy), fr, new MCvScalar(0, 200, 255), 2);
        // 画拟合中心
        CvInvoke.DrawMarker(_canvas, new System.Drawing.Point(fcx, fcy),
            new MCvScalar(0, 0, 255), MarkerTypes.Cross, 20, 2);

        DrawCrossHair();
        UpdateDisplay();
        UpdateStatus($"Fit done: R={fit.Radius:F1}px, dX={fit.DeltaX_um:F1}um, dY={fit.DeltaY_um:F1}um, PathR={fit.PathRadius_um:F1}um", 100);
    }

    public void UpdateStatus(string message, double progress)
    {
        Dispatcher.Invoke(() =>
        {
            StatusText.Text = message;
            ProgressBar.Value = progress;
        });
    }

    /// <summary>
    /// 保存当前画布为图片 | Save current canvas to file
    /// </summary>
    public void SaveCanvas(string filePath)
    {
        Dispatcher.Invoke(() =>
        {
            _canvas.Save(filePath);
        });
    }

    private void DrawCrossHair()
    {
        int mid = _plotSize / 2;
        CvInvoke.Line(_canvas, new System.Drawing.Point(mid, 0), new System.Drawing.Point(mid, _plotSize),
            new MCvScalar(80, 80, 80), 1);
        CvInvoke.Line(_canvas, new System.Drawing.Point(0, mid), new System.Drawing.Point(_plotSize, mid),
            new MCvScalar(80, 80, 80), 1);
    }

    private void UpdateDisplay()
    {
        Dispatcher.Invoke(() =>
        {
            DisplayImage.Source = ToBitmapSource(_canvas);
        });
    }

    private static BitmapSource ToBitmapSource(Image<Bgr, byte> image)
    {
        int width = image.Width;
        int height = image.Height;
        int stride = width * 3;
        byte[] pixels = new byte[stride * height];

        for (int y = 0; y < height; y++)
            for (int x = 0; x < width; x++)
            {
                int idx = y * stride + x * 3;
                pixels[idx] = image.Data[y, x, 0];     // B
                pixels[idx + 1] = image.Data[y, x, 1]; // G
                pixels[idx + 2] = image.Data[y, x, 2]; // R
            }

        var bitmap = BitmapSource.Create(width, height, 96, 96,
            PixelFormats.Bgr24, null, pixels, stride);
        bitmap.Freeze();
        return bitmap;
    }

    protected override void OnClosed(EventArgs e)
    {
        _canvas?.Dispose();
        base.OnClosed(e);
    }
}