/// <summary>
/// Load a Bitmap pixel-by-pixel, slowly.</summary>
public static PixelMap SlowLoad(Bitmap b)
{
PixelMap m = new PixelMap(b.Width, b.Height);
for (int x = 0; x < b.Width; x++)
{
for (int y = 0; y < b.Height; y++)
{
m[x, y] = new Pixel(b.GetPixel(x, y));
}
}
return(m);
}
/// <summary>
/// Clones a PixelMap.</summary>
public PixelMap(PixelMap original)
{
Width = original.Width;
Height = original.Height;
map = new Pixel[Width, Height];
BPP = original.BPP;
format = original.format;
for (int x = 0; x < Width; x++)
{
for (int y = 0; y < Height; y++)
{
this[x, y] = original[x, y];
}
}
}
/// <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 Scan()
{
scanBmp = new PixelMap(Parameters.getD_scan1(), Parameters.getD_scan1(), 0, 0, 0);
}
/// <summary>
/// Думаем, что центр scan1 - это X2,Y2. Нужно вернуть X1,Y1.
/// </summary>
/// <returns>Возвращает массив int[3]: X,Y,error: координаты настоящего центра scan1 и квадрат расстояния от него до реального симуляционного центра scan1</returns>
public int[] getRealCoords4()
{
Console.WriteLine("crosslinkig " + X0 + "," + Y0 + ";"
+ X1 + "," + Y1 + ";" + X2 + "," + Y2);
double minsum = 100000000;
int limXY = 20;
double summ;
double min;
int optX = 0, optY = 0;
int C = (Parameters.getD_scan() + Parameters.getR_scan()) / 2;
List <int[]> errorZone = pieErrorZoneSearch(0, 0, X2 - X0, Y2 - Y0);
// Console.WriteLine("errorZone.Count "+ errorZone.Count);
int numberOfMinPoints = 0; //количество точек с одинаковыми минимальными значениями функционала ошибки //TODO
for (int k = 0; k < errorZone.Count; k++)
{
PixelMap map01 = new PixelMap(Parameters.getD_scan1() + Parameters.getR_scan(), Parameters.getD_scan1() + Parameters.getR_scan(), 0, 0, 0);
List <int[]> irrelevantPoints0 = new List <int[]>();
List <int[]> irrelevantPoints1 = new List <int[]>();
int X = errorZone[k][0];
int Y = errorZone[k][1];
for (int i = 0; i < scan0.xyScan.Count; i++)
{
map01[scan0.xyScan[i][0] + C, scan0.xyScan[i][1] + C] = new Pixel(Parameters.wallColor);
}
for (int i = 0; i < scan1.xyScan.Count; i++)
{
map01[scan1.xyScan[i][0] + X + C, scan1.xyScan[i][1] + Y + C] = new Pixel(Parameters.wallColor);
}
int y1 = new int();
int x1 = new int();
bool flagR; //Будет true, если на текущем угле сканирования видно препятствие, иначе false и радиус от текущего угла будет равен нулю
bool flagRepeated; //Будет true, если точка уже сохранена в списке скана
int rPhi = -1;
for (int i = 0; i < Parameters.getN_phi(); i++)
{
//---------------------------------------scan1
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + X + C, y1 + Y + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan1, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan1.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints1.Count; j++)
{
if ((irrelevantPoints1[j][0] == x1) && (irrelevantPoints1[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints1.Add(new int[2] {
x1, y1
});
}
}
//---------------------------------------scan0
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + C, y1 + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan0, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan0.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints0.Count; j++)
{
if ((irrelevantPoints0[j][0] == x1) && (irrelevantPoints0[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints0.Add(new int[2] {
x1, y1
});
}
}
}
summ = 0;
for (int i = 0; i < irrelevantPoints1.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan1.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]);
}
}
summ += min;
}
for (int i = 0; i < irrelevantPoints0.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan0.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]);
}
}
summ += min;
}
if (minsum > summ)
{
minsum = summ;
optX = X;
optY = Y;
numberOfMinPoints = 0; //TODO
}
if (summ == minsum) //TODO
{
numberOfMinPoints++;
}
}
int errorSquredDistance = Parameters.getSquaredDistance(X1, Y1, X0 + optX, Y0 + optY); //квадрат раастояния от реального положения до предсказанного
//
// Console.WriteLine("opts "+optX+","+optY);
if (errorSquredDistance != 0) //TODO
{
Console.WriteLine("Don't match--------------------------------------");
}
return(new int[5] {
X0 + optX, Y0 + optY, errorSquredDistance, errorZone.Count(), numberOfMinPoints
}); //TODO
}
public void recalculateIndoorMap()
{
preciseIndoorMap = calculateIndoorMap(preciseMap);
}
