public void DrawMap(Graphics g, LiDAR liDAR)
{
for (int i = 0; i < lstDot.Count; i++)
{
lstDot[i].x = lstDot[i].x * Pis;
lstDot[i].y = lstDot[i].y * Pis;
lstDot[i].x += liDAR.x;
lstDot[i].y = liDAR.y - lstDot[i].y;
//Xoay 90 do
//double X = lstDot[i].y;
//double Y = -lstDot[i].x-00;
//Console.WriteLine(X + " " + Y);
Pen p = new Pen(Color.GreenYellow);
g.DrawLine(new Pen(Color.Red, 2), (int)lstDot[i].x, (int)lstDot[i].y, (int)lstDot[i].x + 1, (int)lstDot[i].y);
//g.DrawLine(p, (int)X, (int)Y, (int)X + 1, (int)Y);
}
}
private void button1_Click(object sender, EventArgs e)
{
liDAR = new LiDAR(400, 400);
liDAR.top = liDAR.left = liDAR.right = 0;
panel1.Refresh();
DataProcessing DATA = new DataProcessing();
g.DrawLine(new Pen(Color.Red, 2), 400, 0, 400, 1000);
g.DrawLine(new Pen(Color.Red, 2), 0, 400, 1000, 400);
List <Map> lstData = DATA.GetData();
OriginMap = lstData[0];
liDAR.setGPS(lstData[0].GetGPS().top, lstData[0].GetGPS().left, lstData[0].GetGPS().right);
for (int i = 0; i < lstData.Count; i++)
{
//if (lstData[i].GetGPS().top != 0 && lstData[i].GetGPS().left != 0 && lstData[i].GetGPS().right != 0)
//{
// //Tính độ dịch
// double DelTop = lstData[i].GetGPS().top - OriginMap.GetGPS().top;
// double DelRight = lstData[i].GetGPS().right - OriginMap.GetGPS().right; ;
// double DelLeft = lstData[i].GetGPS().left - OriginMap.GetGPS().left;
// //Console.WriteLine("deltop: " + DelTop);
// //Vẽ
// // Console.WriteLine("Map " + i);
// lstData[i].DrawMap(g, DelTop, DelRight, DelLeft);
// // lstData[i].DrawGPS(g);
// SolidBrush brs = new SolidBrush(Color.Black);
// g.DrawString("MAP: " + (i - 1), new Font("Arial", 16), brs, 0, 0);
// SolidBrush br = new SolidBrush(Color.Yellow);
// g.DrawString("MAP: " + i, new Font("Arial", 16), br, 0, 0);
//}
if (lstData[i].GetGPS().top != 0 && lstData[i].GetGPS().left != 0 && lstData[i].GetGPS().right != 0)
{
Console.WriteLine("Map: " + (i + 1).ToString());
lstData[i].ShowGPS();
liDAR.Update(lstData[i].GetGPS().top, lstData[i].GetGPS().left, lstData[i].GetGPS().right);
lstData[i].DrawMap(g, liDAR);
liDAR.drawLiDAR(g);
//Vẽ
SolidBrush brs = new SolidBrush(Color.Black);
g.FillRectangle(brs, new Rectangle(0, 0, 100, 30));
SolidBrush br = new SolidBrush(Color.Yellow);
g.DrawString("MAP: " + i, new Font("Arial", 16), br, 0, 0);
}
}
//for (int i = 0; i < lstData.Count; i++)
//{
// // Console.WriteLine("Map: " + (i + 1).ToString());
// // lstData[i].ShowGPS();
// // lstData[i].Show();
// // Console.WriteLine();
//}
MessageBox.Show("Vẽ xong nà!");
tm.Stop();
}
