XplorePlane/XP.ImageProcessing.Processors/定位识别/RoiAlignmentProcessor.cs

// ============================================================================
// 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();
    }
}