Display_D_HP/TeamAAS-VM/Services/CameraCalibrationService.cs

using System;
using System.Threading.Tasks;
using OpenCvSharp;
using TeamAAS_VP.Models;
using System.Numerics;
using TeamAAS_VP.Interfaces;

namespace TeamAAS_VP.Services
{
    /// <summary>
    /// 相机标定服务的骨架实现。实际的标定算法和数据持久化由后续实现补充。
    /// </summary>
    public class CameraCalibrationService : ICameraCalibrationService
    {
        private bool _disposed;

        public CameraCalibrationResult CurrentCalibration { get; private set; }

        public CameraCalibrationService()
        {
            // 初始化内部状态
            CurrentCalibration = null;
        }

        public async Task<CameraCalibrationResult> CalibrateAsync(Mat[] images, OpenCvSharp.Size patternSize, double squareSize)
        {
            // 占位实现：调用者将补充真实标定实现。
            // 做最小的参数检查以避免误用。
            if (images == null) throw new ArgumentNullException(nameof(images));
            if (images.Length == 0) throw new ArgumentException("images 不能为空", nameof(images));

            // 在后台线程上执行耗时计算的占位符
            return await Task.Run(() =>
            {
                // TODO: 在此实现相机标定（使用 OpenCvSharp.CalibrateCamera 等）
                // 当前返回空结果，表示尚未实现。
                CurrentCalibration = new CameraCalibrationResult
                {
                    Timestamp = DateTime.UtcNow,
                    Success = false,
                    Message = "未实现：请在 CameraCalibrationService 中补充标定算法。"
                };

                return CurrentCalibration;
            });
        }

        public Vector3 PixelToCameraPoint(Vector2 pixel, double depth = 1.0)
        {
            // 占位：如果没有标定参数则抛出异常，避免误用
            if (CurrentCalibration == null || !CurrentCalibration.Success) throw new InvalidOperationException("当前没有有效的标定结果。");

            // TODO: 根据内参和畸变校正将像素映射到相机坐标系
            return new Vector3((float)pixel.X, (float)pixel.Y, (float)depth);
        }

        public Vector3 CameraToRobotPoint(Vector3 cameraPoint)
        {
            if (CurrentCalibration == null || !CurrentCalibration.Success) throw new InvalidOperationException("当前没有有效的标定结果。");

            // TODO: 使用外参（旋转+平移）将相机点变换至机器人坐标系
            return cameraPoint;
        }

        public Vector3 RobotToCameraPoint(Vector3 robotPoint)
        {
            if (CurrentCalibration == null || !CurrentCalibration.Success) throw new InvalidOperationException("当前没有有效的标定结果。");

            // TODO: 使用外参逆变换
            return robotPoint;
        }

        public Vector3 EstimateCameraCenter()
        {
            if (CurrentCalibration == null || !CurrentCalibration.Success) throw new InvalidOperationException("当前没有有效的标定结果。");

            // TODO: 根据外参估算相机在机器人坐标系中的位置
            return new Vector3(0, 0, 0);
        }

        public void Reset()
        {
            CurrentCalibration = null;
        }

        public void Dispose()
        {
            if (_disposed) return;
            _disposed = true;
            // 释放任何非托管资源（如果有）
            GC.SuppressFinalize(this);
        }
    }
}