/// <summary>
/// Сшивка по нажатию клавиши Enter
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MainForm_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyData == Keys.Enter)
{
if ((positionCounter == 0) && (crosslinker.getXY2()[0] >= 0))
{
int[] real_coords = crosslinker.getRealCoords4();
Console.WriteLine("real_coords are " + real_coords[0] + "," + real_coords[1]);
//на предсказанную карту нанесем последний скан
for (int i = 0; i < crosslinker.scan1.xyScan.Count; i++)
{
predictedMap[crosslinker.scan1.xyScan[i][0] + real_coords[0], crosslinker.scan1.xyScan[i][1] + real_coords[1]] = new Pixel(Parameters.wallColor);
}
MainForm.drawBitmapOnPictureBox(pictureBox2, predictedMap.GetBitmap());
currentRobotPosX = crosslinker.getXY1()[0];
currentRobotPosY = crosslinker.getXY1()[1];
currentErrorX = currentRobotPosX - real_coords[0];
currentErrorY = currentRobotPosY - real_coords[1];
labelCoords.Text = "Real coords: " + currentRobotPosX + "," + currentRobotPosY + "\n" +
"Supp coords: " + real_coords[0] + "," + real_coords[1] + "\n" +
"Error: " + Math.Pow(currentErrorX * currentErrorX + currentErrorY * currentErrorY, 0.5);
crosslinker.setCenter0(real_coords[0], real_coords[1]);
crosslinker.scan0 = new Scan(crosslinker.scan1);
crosslinker.setCenter1(-1, -1);
Bitmap preciseMapBmp = mainForm.environment.preciseMap.GetBitmap();
Graphics graphics = Graphics.FromImage(preciseMapBmp);
interfaceDrawing(preciseMapBmp, graphics);
}
}
}
/// <summary>
/// Рассчитывает карту indoor-среды для заданной карты.
/// </summary>
/// <param name="map"></param>
/// <returns></returns>
private static PixelMap calculateIndoorMap(PixelMap map)
{
Bitmap preciseIndoorMapBmp = map.GetBitmap();
Pen pen = new Pen(Parameters.wallColor);
SolidBrush brush = new SolidBrush(Parameters.wallColor);
Graphics graphics = Graphics.FromImage(preciseIndoorMapBmp);
int r = Parameters.getR_robot() + Parameters.getR_robot() / 2; //увеличенные размеры робота, для того, чтобы на угловых участках траектории сглаживание происходило без проблем
int d = Parameters.getD_robot() + Parameters.getR_robot();
for (int i = 0; i < map.Width; i++)
{
for (int j = 0; j < map.Height; j++)
{
if (map[i, j].Color == Parameters.wallColor)
{
try
{
FillCircle(ref graphics, ref pen, ref brush, r, d, ref i, ref j);
}
catch (Exception ex) { }
}
}
}
// preciseIndoorMapBmp.Save("C:\\Adocuments\\Library\\Clapeyron_ind\\task6 map creation\\PreciseIndoorMap13.png");
PixelMap preciseIndoorMap = new PixelMap(preciseIndoorMapBmp);
return(preciseIndoorMap);
}
public Mode2ManualMapCreation(MainForm mainForm) : base(mainForm)
{
if (this.mainForm != null)
{
initialize();
//устанавливаем размеры предсказанной карты такие же, как и оригинальной (оригинальная сразу должна быть с запасом)
predictedMap = new PixelMap(mainForm.environment.getPreciseBmp().Width, mainForm.environment.getPreciseBmp().Height, 0, 0, 0);
MainForm.drawBitmapOnPictureBox(pictureBox2, predictedMap.GetBitmap());
}
}
/// <summary>
/// Рисует сшитые сканы на одном холсте.
/// </summary>
/// <param name="X1_rl"></param>
/// <param name="Y1_rl"></param>
private void drawCrosslinkedScans(int X1_rl, int Y1_rl)
{
int X0 = crosslinker.getXY0()[0];
int Y0 = crosslinker.getXY0()[1];
//
// int X2 = crosslinker.getXY2()[0];
// int Y2 = crosslinker.getXY2()[1];
//
PixelMap scan01 = new PixelMap(Parameters.getD_scan1() + Parameters.getR_scan(), Parameters.getD_scan1() + Parameters.getR_scan(), 0, 0, 0);
int C = (Parameters.getD_scan() + Parameters.getR_scan()) / 2;
for (int i = 0; i < crosslinker.scan0.xyScan.Count; i++)
{
scan01[crosslinker.scan0.xyScan[i][0] + C, crosslinker.scan0.xyScan[i][1] + C] = new Pixel(Parameters.startColor);
}
for (int i = 0; i < crosslinker.scan1.xyScan.Count; i++)
{
scan01[crosslinker.scan1.xyScan[i][0] + X1_rl - X0 + C, crosslinker.scan1.xyScan[i][1] + Y1_rl - Y0 + C] = new Pixel(Parameters.finishColor);
}
MainForm.drawBitmapOnPictureBox(pictureBox4, scan01.GetBitmap());
}
public Bitmap getBitmap()
{
return(scanBmp.GetBitmap());
}
public Bitmap getPreciseBmp()
{
return(preciseMap.GetBitmap());
}
