ThreatSourceLibaray/ThreatSource/src/Guidance/InfraredImage.cs

using System.Collections.Concurrent;
using ThreatSource.Utils;

namespace ThreatSource.Guidance
{
    /// <summary>
    /// 红外图像类，表示简化的红外图像数据
    /// </summary>
    /// <remarks>
    /// 该类存储红外图像的基本信息：
    /// - 图像尺寸
    /// - 像素物理大小
    /// - 红外强度矩阵
    /// 用于目标探测和识别
    /// </remarks>
    /// <remarks>
    /// 初始化红外图像的新实例
    /// </remarks>
    public class InfraredImage
    {
        /// <summary>
        /// 强度数据数组池，用于重用大型double数组
        /// </summary>
        private static readonly ConcurrentQueue<double[,]> IntensityArrayPool = new();
        
        /// <summary>
        /// 池中数组的最大数量（避免内存无限增长）
        /// </summary>
        private const int MAX_POOL_SIZE = 50;
        
        /// <summary>
        /// 图像宽度，单位：像素
        /// </summary>
        public int Width { get; private set; }

        /// <summary>
        /// 图像高度，单位：像素
        /// </summary>
        public int Height { get; private set; }

        /// <summary>
        /// 像素物理尺寸，单位：弧度/像素
        /// </summary>
        public double PixelSize { get; private set; }

        /// <summary>
        /// 红外强度矩阵
        /// 单位：W/sr
        /// </summary>
        private double[,] intensityData;

        /// <summary>
        /// 图像中心视线方向
        /// </summary>
        public Vector3D LineOfSight { get; private set; }

        /// <summary>
        /// 烟幕覆盖掩码 (true 表示被遮蔽烟幕覆盖)
        /// </summary>
        public bool[,] SmokeCoverageMask { get; private set; }

        /// <summary>
        /// 从池中获取或创建强度数据数组
        /// </summary>
        private static double[,] GetIntensityArray(int height, int width)
        {
            if (IntensityArrayPool.TryDequeue(out var array) && 
                array.GetLength(0) == height && array.GetLength(1) == width)
            {
                // 清零重用的数组
                Array.Clear(array, 0, array.Length);
                return array;
            }
            // 池中没有合适尺寸的数组，创建新的
            return new double[height, width];
        }

        /// <summary>
        /// 将强度数据数组归还到池中
        /// </summary>
        private static void ReturnIntensityArray(double[,] array)
        {
            if (IntensityArrayPool.Count < MAX_POOL_SIZE)
            {
                IntensityArrayPool.Enqueue(array);
            }
        }

        /// <summary>
        /// 初始化红外图像的新实例
        /// </summary>
        /// <param name="width">图像宽度</param>
        /// <param name="height">图像高度</param>
        /// <param name="pixelSize">像素物理尺寸</param>
        /// <param name="lineOfSight">视线方向</param>
        /// <param name="smokeCoverageMask">烟幕覆盖掩码 (可选，可为null)</param>
        public InfraredImage(int width, int height, double pixelSize, Vector3D lineOfSight, bool[,]? smokeCoverageMask = null)
        {
            Width = width;
            Height = height;
            PixelSize = pixelSize;
            LineOfSight = lineOfSight;
            intensityData = GetIntensityArray(height, width);
            SmokeCoverageMask = smokeCoverageMask ?? new bool[height, width];
        }

        /// <summary>
        /// 重置图像参数（用于对象池重用）
        /// </summary>
        /// <param name="width">图像宽度</param>
        /// <param name="height">图像高度</param>
        /// <param name="pixelSize">像素物理尺寸</param>
        /// <param name="lineOfSight">视线方向</param>
        /// <param name="smokeCoverageMask">烟幕覆盖掩码（可为null）</param>
        public void Reset(int width, int height, double pixelSize, Vector3D lineOfSight, bool[,]? smokeCoverageMask)
        {
            Width = width;
            Height = height;
            PixelSize = pixelSize;
            LineOfSight = lineOfSight;
            SmokeCoverageMask = smokeCoverageMask ?? new bool[height, width];
            
            // 归还旧数组到池中，获取新数组
            if (intensityData != null && 
                (intensityData.GetLength(0) != height || intensityData.GetLength(1) != width))
            {
                ReturnIntensityArray(intensityData);
                intensityData = GetIntensityArray(height, width);
            }
            else if (intensityData == null)
            {
                intensityData = GetIntensityArray(height, width);
            }
            else
            {
                // 尺寸匹配，直接清零现有数组
                Array.Clear(intensityData, 0, intensityData.Length);
            }
        }

        /// <summary>
        /// 设置像素强度值
        /// </summary>
        /// <param name="row">行索引</param>
        /// <param name="col">列索引</param>
        /// <param name="value">强度值，单位：W/sr</param>
        public void SetIntensity(int row, int col, double value)
        {
            if (row >= 0 && row < Height && col >= 0 && col < Width)
            {
                intensityData[row, col] = value;
            }
        }

        /// <summary>
        /// 获取像素强度值
        /// </summary>
        /// <param name="row">行索引</param>
        /// <param name="col">列索引</param>
        /// <returns>强度值，单位：W/sr</returns>
        public double GetIntensity(int row, int col)
        {
            if (row >= 0 && row < Height && col >= 0 && col < Width)
            {
                return intensityData[row, col];
            }
            return 0.0;
        }

        /// <summary>
        /// 获取内存占用信息（用于性能监控）
        /// </summary>
        /// <returns>内存占用字节数</returns>
        public long GetMemoryUsage()
        {
            return sizeof(double) * Width * Height; // double数组
        }

        /// <summary>
        /// 获取图像信息（用于调试）
        /// </summary>
        /// <returns>图像的调试信息</returns>
        public string GetImageInfo()
        {
            return $"图像尺寸: {Width}x{Height}, " +
                   $"像素大小: {PixelSize:E3} 弧度/像素, " +
                   $"内存占用: {GetMemoryUsage():N0} bytes";
        }
    }
}