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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/SLAM/SLAMDtos.cs

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+using RobotNet10.Shared.Geometry;
+using RobotNet10.Shared.Numbers;
+using QuaternionGeometry = RobotNet10.Shared.Geometry.Quaternion;
+
+namespace RobotNet10.RobotApp.Client.Shared.SLAM;
+
+/// <summary>
+/// DTO cho Pose với covariance (3x3 matrix flattened to 9 values)
+/// </summary>
+public class PoseDto
+{
+    public RobotNet10.Shared.Numbers.Vector3 Position { get; set; } = new();
+    public QuaternionGeometry Orientation { get; set; } = new();
+    
+    /// <summary>
+    /// Covariance matrix (3x3) flattened to 9 values: [xx, xy, xθ, yx, yy, yθ, θx, θy, θθ]
+    /// null if covariance is not available
+    /// </summary>
+    public double[]? Covariance { get; set; }
+
+    public double Score {  get; set; }
+    
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// DTO cho OccupancyGrid (optimized sparse format for SignalR transmission)
+/// Chỉ chứa các cell đã biết (known cells) và occupied cells để giảm bandwidth
+/// </summary>
+public class OccupancyGridDto
+{
+    public double Resolution { get; set; }
+    public int Width { get; set; }
+    public int Height { get; set; }
+    public Pose Origin { get; set; } = new();
+    
+    /// <summary>
+    /// Sparse format: chỉ chứa các cell đã biết (value >= 0)
+    /// Format: byte[] với mỗi cell = 5 bytes: [index_byte0, index_byte1, index_byte2, index_byte3, value]
+    /// Index: 4 bytes little-endian (32-bit unsigned integer, max 4,294,967,295)
+    /// Value: 1 byte (0-100 = occupancy probability, 0 = free, 100 = occupied)
+    /// Index được tính: y * Width + x (row-major order)
+    /// </summary>
+    public byte[] KnownCells { get; set; } = [];
+    
+    /// <summary>
+    /// Version number để detect changes (increment mỗi khi grid thay đổi)
+    /// </summary>
+    public long Version { get; set; }
+    
+    /// <summary>
+    /// Thời gian cuối cùng update grid base (từ CartographerService.LastUpdatedBase).
+    /// </summary>
+    public DateTime LastBaseUpdated { get; set; }
+    
+    /// <summary>
+    /// Thời gian cuối cùng update OccupancyGridUpdating (từ CartographerService.LastUpdatedUpdating).
+    /// </summary>
+    public DateTime LastUpdated { get; set; }
+
+    /// <summary>
+    /// Trajectory nodes (từ pose graph) kèm theo grid; dùng để vẽ trajectory polyline.
+    /// Có khi lấy grid base hoặc grid updating.
+    /// </summary>
+    public TrajectoryNodeDto[]? TrajectoryNodes { get; set; }
+}
+
+/// <summary>
+/// DTO cho TrajectoryNode
+/// </summary>
+public class TrajectoryNodeDto
+{
+    public int NodeId { get; set; }
+    public Pose Pose { get; set; } = new();
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// DTO cho MapInfo
+/// </summary>
+public class MapInfoDto
+{
+    public string Name { get; set; } = string.Empty;
+    public DateTime CreatedDate { get; set; }
+    public double Resolution { get; set; }
+    /// <summary>
+    /// Width of map in meters
+    /// </summary>
+    public double Width { get; set; }
+    /// <summary>
+    /// Height of map in meters
+    /// </summary>
+    public double Height { get; set; }
+    public int TrajectoryNodeCount { get; set; }
+    /// <summary>
+    /// Origin X coordinate in meters
+    /// </summary>
+    public double OriginX { get; set; }
+    /// <summary>
+    /// Origin Y coordinate in meters
+    /// </summary>
+    public double OriginY { get; set; }
+
+    /// <summary>
+    /// Indicates if the map is currently being processed on the server
+    /// </summary>
+    public bool IsProcessing { get; set; }
+}
+
+/// <summary>
+/// DTO cho error information
+/// </summary>
+public class ErrorDto
+{
+    public string Message { get; set; } = string.Empty;
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// Strategy for merging multiple submaps into a single occupancy grid.
+/// </summary>
+public enum SubmapMergeStrategyDto
+{
+    /// <summary>
+    /// Porter-Duff Source-Over compositing (Cairo-style).
+    /// </summary>
+    PorterDuff = 0,
+
+    /// <summary>
+    /// Sum log-odds from all submaps (Bayesian approach).
+    /// </summary>
+    LogOddsSum = 1,
+
+    /// <summary>
+    /// Take maximum probability (most pessimistic/conservative).
+    /// </summary>
+    MaxProbability = 2
+}
+
+/// <summary>
+/// DTO cho OccupancyGridConfiguration - dùng để customize cách render occupancy grid
+/// </summary>
+public class OccupancyGridConfigurationDto
+{
+    #region Merge Strategy
+
+    /// <summary>
+    /// Strategy for merging overlapping cells from multiple submaps.
+    /// Default: LogOddsSum (clearer free/occupied distinction)
+    /// </summary>
+    public SubmapMergeStrategyDto MergeStrategy { get; set; } = SubmapMergeStrategyDto.LogOddsSum;
+
+    /// <summary>
+    /// Clamp log-odds to prevent extreme values from dominating.
+    /// Range: [1, 20], Default: 10
+    /// </summary>
+    public double LogOddsClamp { get; set; } = 10.0;
+
+    /// <summary>
+    /// When true, use average log-odds instead of sum.
+    /// Default: true
+    /// </summary>
+    public bool UseLogOddsAverage { get; set; } = true;
+
+    #endregion
+
+    #region Threshold Configuration
+
+    /// <summary>
+    /// Threshold for classifying a cell as FREE.
+    /// Higher value = stricter (fewer free cells).
+    /// Range: [0, 255], Default: 100
+    /// </summary>
+    public int FreeSpaceThreshold { get; set; } = 100;
+
+    /// <summary>
+    /// Threshold for classifying a cell as OCCUPIED.
+    /// Higher value = stricter (fewer occupied cells, thinner walls).
+    /// Range: [0, 255], Default: 0
+    /// </summary>
+    public int OccupiedSpaceThreshold { get; set; } = 0;
+
+    #endregion
+
+    #region Output Mode
+
+    /// <summary>
+    /// When true, output only binary values (0=free, 100=occupied, -1=unknown).
+    /// When false, output gradient values (0-100) based on probability.
+    /// Default: true
+    /// </summary>
+    public bool UseBinaryOutput { get; set; } = true;
+
+    #endregion
+
+    #region Wall Thinning (Post-processing)
+
+    /// <summary>
+    /// Enable morphological erosion to thin walls in the occupancy grid.
+    /// Default: false
+    /// </summary>
+    public bool EnableWallThinning { get; set; } = false;
+
+    /// <summary>
+    /// Number of erosion iterations for wall thinning.
+    /// Range: [1, 5], Default: 1
+    /// </summary>
+    public int WallThinningIterations { get; set; } = 1;
+
+    /// <summary>
+    /// Minimum wall thickness to preserve (in pixels) during wall thinning.
+    /// Range: [1, 10], Default: 1
+    /// </summary>
+    public int MinWallThicknessPixels { get; set; } = 1;
+
+    #endregion
+
+    #region Ambiguous Cell Handling
+
+    /// <summary>
+    /// How to handle ambiguous cells (probability ~0.5).
+    /// Values: -1 = Unknown, 0 = Free, 100 = Occupied
+    /// Default: -1
+    /// </summary>
+    public sbyte AmbiguousCellValue { get; set; } = -1;
+
+    /// <summary>
+    /// Lower bound of the ambiguous range (probability).
+    /// Default: 0.35
+    /// </summary>
+    public double AmbiguousRangeLower { get; set; } = 0.35;
+
+    /// <summary>
+    /// Upper bound of the ambiguous range (probability).
+    /// Default: 0.65
+    /// </summary>
+    public double AmbiguousRangeUpper { get; set; } = 0.65;
+
+    #endregion
+
+    #region Advanced Options
+
+    /// <summary>
+    /// Apply median filter to reduce noise.
+    /// Default: false
+    /// </summary>
+    public bool EnableMedianFilter { get; set; } = false;
+
+    /// <summary>
+    /// Kernel size for median filter (must be odd number).
+    /// Range: [3, 7], Default: 3
+    /// </summary>
+    public int MedianFilterKernelSize { get; set; } = 3;
+
+    #endregion
+}