XplorePlane/XP.ImageProcessing.Core/Alignment/RoiAlignmentPipelineBridge.cs

namespace XP.ImageProcessing.Core.Alignment;

/// <summary>
/// 流水线胶水入口：模板匹配 OutputData → ROI 变换 → 写入下游 VoidMeasurement 等算子参数字典。
/// 不依赖 XplorePlane；由 PipelineExecutionService 在步骤间调用。
/// </summary>
public static class RoiAlignmentPipelineBridge
{
    /// <summary>
    /// 将测量位姿写入 RoiAlignment 算子参数（MeasuredCenterX/Y/Angle）。
    /// </summary>
    public static void InjectMeasuredPose(IDictionary<string, object> roiAlignmentParameters, Pose2D measuredPose)
    {
        if (roiAlignmentParameters == null)
            throw new ArgumentNullException(nameof(roiAlignmentParameters));

        roiAlignmentParameters["MeasuredCenterX"] = measuredPose.X;
        roiAlignmentParameters["MeasuredCenterY"] = measuredPose.Y;
        roiAlignmentParameters["MeasuredAngle"] = measuredPose.AngleDegrees;
    }

    /// <summary>
    /// 将示教基准位姿写入 RoiAlignment 算子参数（RefCenterX/Y/Angle）。
    /// </summary>
    public static void InjectReferencePose(IDictionary<string, object> roiAlignmentParameters, Pose2D referencePose)
    {
        if (roiAlignmentParameters == null)
            throw new ArgumentNullException(nameof(roiAlignmentParameters));

        roiAlignmentParameters["RefCenterX"] = referencePose.X;
        roiAlignmentParameters["RefCenterY"] = referencePose.Y;
        roiAlignmentParameters["RefAngle"] = referencePose.AngleDegrees;
    }

    /// <summary>
    /// 从模板匹配一步 OutputData 读取位姿并对齐示教 ROI。
    /// </summary>
    public static bool TryAlignFromTemplateMatch(
        AlignmentRecipe recipe,
        IReadOnlyDictionary<string, object>? templateMatchOutput,
        out RoiAlignmentResult result,
        int matchIndex = 0)
    {
        result = RoiAlignmentApplier.ApplyFromTemplateMatchOutput(recipe, templateMatchOutput, matchIndex);
        return result.Success;
    }

    /// <summary>
    /// 将 RoiAlignment 算子 OutputData 中的 Poly* 拷贝到检测算子参数字典（如 VoidMeasurement）。
    /// </summary>
    public static bool TryCopyAlignedRoiToDetectionParameters(
        IReadOnlyDictionary<string, object>? roiAlignmentOutput,
        IDictionary<string, object> detectionParameters,
        out string? errorMessage)
    {
        errorMessage = null;
        if (roiAlignmentOutput == null)
        {
            errorMessage = "ROI alignment output is null.";
            return false;
        }

        if (roiAlignmentOutput.TryGetValue(RoiAlignmentOutputKeys.Success, out var okObj)
            && okObj is bool ok
            && !ok)
        {
            if (roiAlignmentOutput.TryGetValue(RoiAlignmentOutputKeys.Message, out var msgObj)
                && msgObj is string msg
                && !string.IsNullOrWhiteSpace(msg))
                errorMessage = msg;
            else
                errorMessage = "ROI alignment failed.";
            return false;
        }

        if (!roiAlignmentOutput.TryGetValue(RoiPolygonParameterNames.PolyCount, out var countObj))
        {
            errorMessage = "ROI alignment output has no PolyCount.";
            return false;
        }

        int count = Convert.ToInt32(countObj);
        if (count < 3)
        {
            errorMessage = $"Invalid aligned PolyCount={count}.";
            return false;
        }

        RoiAlignmentApplier.WriteToParameters(detectionParameters, new RoiAlignmentResult
        {
            Success = true,
            TransformedPointsInt = ReadIntPointsFromOutput(roiAlignmentOutput, count)
        });

        return true;
    }

    private static IReadOnlyList<(int X, int Y)> ReadIntPointsFromOutput(
        IReadOnlyDictionary<string, object> output,
        int count)
    {
        var list = new List<(int X, int Y)>(count);
        for (int i = 0; i < count; i++)
        {
            int x = output.TryGetValue(RoiPolygonParameterNames.PolyX(i), out var xo)
                ? Convert.ToInt32(xo) : 0;
            int y = output.TryGetValue(RoiPolygonParameterNames.PolyY(i), out var yo)
                ? Convert.ToInt32(yo) : 0;
            list.Add((x, y));
        }

        return list;
    }
}