训练体系整合与标注单阶段化

- 标注：AI 预标注直写 labels_json（去候选确认两阶段）；重叠去重（minIoU）；全量标注按钮
- 训练：脚本迁移入 server/training/（Go 化 prepare_yolo/analyze_rfdetr，保留 train_server.py）；tflite 产物自检并入训练流程（check_tflite）
- 数据目录/权重不进 git；.gitignore 迁移至仓库根

flutter_app/lib/camera/app_camera_controller.dart

@@ -1,61 +1,257 @@
+import 'dart:async';
+
 import 'package:camera/camera.dart';
 import 'package:flutter/foundation.dart';
 import 'package:flutter/services.dart';
+import 'package:flutter/widgets.dart';
 
 import 'frame_analyzer.dart';
 
-/// camera 插件封装：后摄图像流（对应 Kotlin CameraController）。
-class AppCameraController {
+/// 相机抽象（对应 Kotlin CameraController）：
+///
+/// - Android：自写原生通道（[NativeCameraController]）。分析帧在 Kotlin 侧
+///   旋转成竖屏后经 EventChannel 回传，Flutter 侧恒 rotation=0——与 iOS
+///   （camera_avfoundation 插件，帧本来就是竖屏方向）行为一致，消除
+///   "横屏传感器帧 → 90° 旋转 + FIT_COVER crop 映射"的标注偏移根因。
+/// - iOS：camera 插件（原逻辑）。帧已竖屏，rotation 恒 0。
+abstract class AppCameraController {
+  static Future<AppCameraController?> create() async {
+    if (defaultTargetPlatform == TargetPlatform.android) {
+      return NativeCameraController();
+    }
+    return PluginCameraController.create();
+  }
+
+  /// 分析流回调实际触发次数（诊断用，与 analyzer 帧计数区分）
+  int get streamCallbacks;
+
+  bool get isInitialized;
+
+  bool get isStreaming;
+
+  String? get errorDescription;
+
+  /// 检测框 overlay 应使用的旋转角。两平台帧都已竖屏 → 恒 0。
+  int get rotationDegrees => 0;
+
+  /// 诊断：传感器方向 / 显示旋转（仅 Android 原生通道上报）
+  int? get sensorOrientation => null;
+
+  int? get displayDegrees => null;
+
+  /// 预览实际应用的旋转圈数（仅 Android 原生通道上报，诊断用）
+  int get quarterTurns => -1;
+
+  /// 诊断：轮询原生侧帧状态（Android 返回计数；iOS 返回空）
+  Future<Map<dynamic, dynamic>> stats() async => const {};
+
+  Future<void> start(FrameAnalyzer analyzer);
+
+  Future<void> stop();
+
+  Future<double> getMinZoomLevel();
+
+  Future<double> getMaxZoomLevel();
+
+  Future<void> setZoomLevel(double value);
+
+  /// 预览 widget：Android 为原生 SurfaceView（AndroidView），iOS 为插件纹理
+  Widget buildPreview();
+}
+
+/// Android：自写原生相机通道（Kotlin CameraChannel）。
+class NativeCameraController extends AppCameraController {
+  static const MethodChannel _channel = MethodChannel('observer/camera');
+  static const EventChannel _frames = EventChannel('observer/camera/frames');
+
+  StreamSubscription<dynamic>? _sub;
+  bool _streaming = false;
+  String? _error;
+
+  /// 原生侧注册的预览纹理（SurfaceTexture）
+  int? _textureId;
+  int _textureW = 1920;
+  int _textureH = 1080;
+  int _quarterTurns = 1;
+
+  @override
+  int streamCallbacks = 0;
+
+  int? _sensorOrientation;
+  int? _displayDegrees;
+
+  @override
+  int? get sensorOrientation => _sensorOrientation;
+
+  @override
+  int? get displayDegrees => _displayDegrees;
+
+  @override
+  int get quarterTurns => _quarterTurns;
+
+  @override
+  bool get isInitialized => _streaming;
+
+  @override
+  bool get isStreaming => _streaming;
+
+  @override
+  String? get errorDescription => _error;
+
+  @override
+  Future<Map<dynamic, dynamic>> stats() async {
+    try {
+      final r = await _channel.invokeMethod<Map<dynamic, dynamic>>('stats');
+      if (r != null) {
+        // 旋转/显示角度随轮询实时刷新：手机旋转后预览与帧旋转都跟着变
+        final dd = r['displayDegrees'];
+        if (dd is int) _displayDegrees = dd;
+        final turns = r['quarterTurns'];
+        if (turns is int) _quarterTurns = turns;
+      }
+      return r ?? const {};
+    } catch (e) {
+      return {'pollErr': '$e'};
+    }
+  }
+
+  @override
+  Future<void> start(FrameAnalyzer analyzer) async {
+    await stop();
+    // 先订阅再启动：原生 start 绑定后立刻推帧，避免首帧竞态
+    _sub = _frames.receiveBroadcastStream().listen((event) {
+      // 计数放最前：任何到达的事件都先记账，后续解析失败也不丢计数
+      streamCallbacks++;
+      try {
+        final f = event as List;
+        final w = f[0] as int;
+        final h = f[1] as int;
+        final rotation = f[2] as int;
+        final bgra = f[3] as bool;
+        final bytes = f[4] as Uint8List;
+        analyzer.analyzeRaw(
+          planes: [bytes],
+          strides: [w * 4],
+          width: w,
+          height: h,
+          isBgra: true,
+          rgbaOrder: !bgra,
+          rotationDegrees: rotation,
+        );
+      } catch (e) {
+        _error = '帧解析: $e';
+        analyzer.recordStreamError('frames parse: $e');
+      }
+    }, onError: (Object e) {
+      _error = '$e';
+      analyzer.recordStreamError('frames: $e');
+    });
+    analyzer.reset();
+    analyzer.worker?.reset();
+    try {
+      final r = await _channel.invokeMethod<Map<dynamic, dynamic>>('start');
+      _textureId = r?['textureId'] as int?;
+      _textureW = (r?['w'] as num?)?.toInt() ?? _textureW;
+      _textureH = (r?['h'] as num?)?.toInt() ?? _textureH;
+      _quarterTurns = (r?['quarterTurns'] as num?)?.toInt() ?? 1;
+      _sensorOrientation = (r?['sensorOrientation'] as num?)?.toInt();
+      _displayDegrees = (r?['displayDegrees'] as num?)?.toInt();
+    } catch (e) {
+      _error = '$e';
+      analyzer.recordStreamError('camera start: $e');
+      rethrow;
+    }
+    _streaming = true;
+  }
+
+  @override
+  Future<void> stop() async {
+    _streaming = false;
+    await _sub?.cancel();
+    _sub = null;
+    try {
+      await _channel.invokeMethod('stop');
+    } catch (_) {}
+  }
+
+  @override
+  Future<double> getMinZoomLevel() async {
+    final r = await _channel.invokeMethod<List<dynamic>>('getZoomRange');
+    return (r != null && r.isNotEmpty ? (r[0] as num).toDouble() : 1.0);
+  }
+
+  @override
+  Future<double> getMaxZoomLevel() async {
+    final r = await _channel.invokeMethod<List<dynamic>>('getZoomRange');
+    return (r != null && r.length > 1 ? (r[1] as num).toDouble() : 1.0);
+  }
+
+  @override
+  Future<void> setZoomLevel(double value) async {
+    try {
+      await _channel.invokeMethod('setZoom', value);
+    } catch (_) {}
+  }
+
+  /// 预览纹理：Flutter 引擎渲染 Texture 时已自动应用 SurfaceTexture 变换矩阵
+  /// （传感器方向补偿，内容已转成自然方向的竖屏），因此：
+  /// 1. 区域声明旋转后的尺寸（宽高互换）——否则横屏区域会把竖屏内容横向拉伸
+  /// 2. RotatedBox 只按显示旋转补偿（quarterTurns = 屏转/90，竖屏 0 / 横屏 1）
+  /// 再 FittedBox cover（= CoordinateMapper 的 FIT_COVER 数学一致）填满全屏。
+  /// 不用 AndroidView+SurfaceView——平台视图会盖住 Flutter UI（诊断行/设置按钮/overlay）
+  @override
+  Widget buildPreview() {
+    final id = _textureId;
+    if (id == null) return const SizedBox.shrink();
+    return FittedBox(
+      fit: BoxFit.cover,
+      child: RotatedBox(
+        quarterTurns: _quarterTurns % 4,
+        child: SizedBox(
+          width: _textureH.toDouble(),
+          height: _textureW.toDouble(),
+          child: Texture(textureId: id),
+        ),
+      ),
+    );
+  }
+}
+
+/// iOS：camera 插件封装（原实现）。
+class PluginCameraController extends AppCameraController {
   final List<CameraDescription> cameras;
   CameraController? controller;
 
-  /// 图像流回调实际触发次数（诊断用，与 analyzer 帧计数区分）
+  @override
   int streamCallbacks = 0;
 
-  AppCameraController._(this.cameras);
+  PluginCameraController._(this.cameras);
 
-  static Future<AppCameraController?> create() async {
+  static Future<PluginCameraController?> create() async {
     final cameras = await availableCameras();
     if (cameras.isEmpty) return null;
-    return AppCameraController._(cameras);
+    return PluginCameraController._(cameras);
   }
 
+  @override
   bool get isInitialized => controller?.value.isInitialized ?? false;
 
-  CameraController get currentController =>
-      controller ?? (throw StateError('camera not initialized'));
+  @override
+  bool get isStreaming => controller?.value.isStreamingImages ?? false;
 
-  /// 图像流送达时的旋转角（传感器 → 竖屏显示所需的顺时针旋转）。
-  /// 与 CameraX rotationDegrees 同公式；预览本身由平台旋转，检测框 overlay
-  /// 用同一角度映射即可对齐。
-  int get rotationDegrees {
-    final c = controller;
-    if (c == null) return 0;
-    final deviceDegrees = switch (c.value.deviceOrientation) {
-      DeviceOrientation.portraitUp => 0,
-      DeviceOrientation.landscapeLeft => 90,
-      DeviceOrientation.portraitDown => 180,
-      DeviceOrientation.landscapeRight => 270,
-    };
-    final sensor = c.description.sensorOrientation;
-    final isFront =
-        c.description.lensDirection == CameraLensDirection.front;
-    final degrees = (isFront ? sensor + deviceDegrees : sensor - deviceDegrees) % 360;
-    return degrees < 0 ? degrees + 360 : degrees;
-  }
+  @override
+  String? get errorDescription => controller?.value.errorDescription;
 
+  @override
   Future<void> start(FrameAnalyzer analyzer) async {
     await stop();
     final desc = cameras.firstWhere(
         (c) => c.lensDirection == CameraLensDirection.back,
         orElse: () => cameras.first);
-    // iOS 用默认 bgra8888（420v 在部分 iOS 版本上视频输出静默不送帧），
-    // Android 用 yuv420 多平面。
-    final fmt = defaultTargetPlatform == TargetPlatform.iOS
-        ? ImageFormatGroup.bgra8888
-        : ImageFormatGroup.yuv420;
-    final c = CameraController(desc, ResolutionPreset.high,
-        enableAudio: false, imageFormatGroup: fmt);
+    // iOS image stream 帧已按竖屏方向输出（无需旋转），
+    // 与 Android 原生通道（帧原生侧旋转成竖屏）统一 rotation=0
+    final c = CameraController(desc, ResolutionPreset.veryHigh,
+        enableAudio: false, imageFormatGroup: ImageFormatGroup.bgra8888);
     controller = c;
     await c.initialize();
     // 相机（重新）启动后重置运动/背景参考与抽帧节流，避免旧场景残留
@@ -66,7 +262,7 @@ class AppCameraController {
       await c.startImageStream((image) {
         streamCallbacks++;
         try {
-          analyzer.analyze(image, rotationDegrees);
+          analyzer.analyze(image, 0);
         } catch (e, st) {
           debugPrint('[camera] analyze error: $e\n$st');
           analyzer.recordStreamError('analyze: $e');
@@ -80,6 +276,7 @@ class AppCameraController {
     }
   }
 
+  @override
   Future<void> stop() async {
     final c = controller;
     if (c == null) return;
@@ -89,4 +286,16 @@ class AppCameraController {
     } catch (_) {}
     await c.dispose();
   }
+
+  @override
+  Future<double> getMinZoomLevel() => controller!.getMinZoomLevel();
+
+  @override
+  Future<double> getMaxZoomLevel() => controller!.getMaxZoomLevel();
+
+  @override
+  Future<void> setZoomLevel(double value) => controller!.setZoomLevel(value);
+
+  @override
+  Widget buildPreview() => CameraPreview(controller!);
 }