/// <summary>
/// bmpからGridMapを生成
/// </summary>
/// <param name="bitmap"></param>
public GridMap(Bitmap bitmap)
{
W = bitmap.Width;
H = bitmap.Height;
M = new Grid[W, H];
BitmapAccess access = new BitmapAccess(bitmap);
access.BeginAccess();
// bmpからGridMapを生成
for (int x = 0; x < W; ++x)
{
for (int y = 0; y < H; ++y)
{
Color c = access[x, y];
if (c == GridColor_Fill)
{
// 障害物
this[x, y] = Grid.Fill;
}
else if (c == GridColor_Free)
{
// 何もないところ
this[x, y] = Grid.Free;
}
else if (c == GridColor_RedArea)
{
// 異常地帯 壁の中
this[x, y] = Grid.RedArea;
}
else if (c == GridColor_GreenArea)
{
// 位置補正エリア
this[x, y] = Grid.GreenArea;
}
else if (c == GridColor_BlueArea)
{
// スローエリア
this[x, y] = Grid.BlueArea;
}
else
{
// それ以外
this[x, y] = Grid.Unknown;
}
}
}
access.EndAccess();
}
/// <summary>
/// GridMapからBMP更新
/// </summary>
/// <returns></returns>
public Bitmap UpdateBitmap()
{
BitmapAccess MapAccess = new BitmapAccess(img);
MapAccess.BeginAccess();
for (int x = 0; x < W; ++x)
{
for (int y = 0; y < H; ++y)
{
Color cl = Color.Yellow;
switch (this[x, y])
{
case Grid.Fill:
cl = Color.Black;
break;
case Grid.Free:
cl = Color.White;
break;
case Grid.RedArea:
cl = Color.Red;
break;
case Grid.BlueArea:
cl = Color.Blue;
break;
case Grid.GreenArea:
cl = Color.Green;
break;
case Grid.Unknown:
cl = Color.LightGray;
break;
}
MapAccess[x, y] = cl;
}
}
MapAccess.EndAccess();
return(img);
}