chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -0,0 +1,37 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.Mapping;
+
+/// <summary>从只读规划地图生成简单的 RGBA 占据图字节数组。</summary>
+internal static class PlanningMapImageRenderer
+{
+    /// <summary>
+    /// 渲染规划地图为行主序 RGBA 像素。
+    ///
+    /// 参数：map 为只读规划快照；pixelsPerCell 为每个栅格的像素边长；width、height 返回图像像素尺寸。
+    /// 返回：长度为 width × height × 4 的 RGBA 字节数组；不会修改地图。
+    /// </summary>
+    public static byte[] Render(PlanningGridMap map, int pixelsPerCell, out int width, out int height)
+    {
+        if (map == null) throw new ArgumentNullException(nameof(map));
+        width = checked(map.Cols * pixelsPerCell);
+        height = checked(map.Rows * pixelsPerCell);
+        var rgba = new byte[checked(width * height * 4)];
+        for (int row = 0; row < map.Rows; row++)
+        for (int col = 0; col < map.Cols; col++)
+        {
+            bool occupied = map.IsOccupied(row, col);
+            byte red = occupied ? (byte)220 : (byte)245;
+            byte green = occupied ? (byte)45 : (byte)245;
+            byte blue = occupied ? (byte)45 : (byte)245;
+            int displayRow = map.Rows - 1 - row;
+            for (int py = 0; py < pixelsPerCell; py++)
+            for (int px = 0; px < pixelsPerCell; px++)
+            {
+                int index = ((displayRow * pixelsPerCell + py) * width + col * pixelsPerCell + px) * 4;
+                rgba[index] = red; rgba[index + 1] = green; rgba[index + 2] = blue; rgba[index + 3] = 255;
+            }
+        }
+        return rgba;
+    }
+}