init commit
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zhaowei.huang
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using SimpleCore.PropType;
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using SimpleCore;
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using System.Collections.Generic;
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using System.Dynamic;
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using SimpleLite.CADTools;
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using SimpleLite.Props;
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using SimpleLite.UI;
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using System.Numerics;
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using System.Drawing;
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using System;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Linq;
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using System.Net.Http;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using Newtonsoft.Json;
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using SimpleLite.RCS;
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using SimpleLite.RCS.CarTypes;
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namespace StandardScene.Model
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{
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public class Map
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{
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public List<ExpandoObject> Sites { get; set; }
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public List<ExpandoObject> Tracks { get; set; }
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public List<ExpandoObject> CircularArcTracks { get; set; }
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public List<ExpandoObject> BezierTracks { get; set; }
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public static Map GetMap()
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{
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var map = new Map
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{
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Sites = new List<ExpandoObject>()
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};
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Site[] allSites = SimpleLib.GetAllSites();
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foreach (var site in allSites)
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{
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dynamic theSite = new ExpandoObject();
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theSite.Id = ((Prop)site).id;
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theSite.Name = ((Prop)site).name;
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theSite.X = site.x;
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theSite.Y = site.y;
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theSite.Fields = new Dictionary<string, string>();
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foreach (var kv in site.fields)
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{
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theSite.Fields.Add(kv.Key, kv.Value);
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}
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theSite.Type = theSite.Fields.ContainsKey("Standby") ? "standby" : theSite.Fields.ContainsKey("Charge") ? "charge" : theSite.Fields.ContainsKey("Shelf") ? "shelf" : "default";
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map.Sites.Add(theSite);
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}
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map.Tracks = new List<ExpandoObject>();
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map.CircularArcTracks = new List<ExpandoObject>();
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map.BezierTracks = new List<ExpandoObject>();
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var allTracks = SimpleLib.GetAllTracks();
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foreach (var track in allTracks)
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{
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switch (track)
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{
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case UITrack uiTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = uiTrack.id;
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theTrack.A = uiTrack.siteA;
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theTrack.B = uiTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (KeyValuePair<string, string> kv in uiTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = uiTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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theTrack.Type = 0;
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map.Tracks.Add(theTrack);
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break;
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}
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case UICircularArcTrack circularArcTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = circularArcTrack.id;
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theTrack.A = circularArcTrack.siteA;
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theTrack.B = circularArcTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (var kv in circularArcTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = circularArcTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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//添加原点坐标、半径、开始角度、结束角度
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theTrack.Type = 1;
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theTrack.CenterX = circularArcTrack.Arc.Center.X;
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theTrack.CenterY = circularArcTrack.Arc.Center.Y;
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theTrack.Radius = circularArcTrack.Arc.Radius;
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theTrack.AngleStart = circularArcTrack.Arc.AngleStart;
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theTrack.AngleEnd = circularArcTrack.Arc.AngleEnd;
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//获取圆弧的控制点
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var controlPoint = ArcHelper.CalculateControlPoint(
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circularArcTrack.Arc.PointStart.X, circularArcTrack.Arc.PointStart.Y,
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circularArcTrack.Arc.PointEnd.X, circularArcTrack.Arc.PointEnd.Y,
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circularArcTrack.Arc.Center.X, circularArcTrack.Arc.Center.Y,
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circularArcTrack.Arc.Radius,
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circularArcTrack.Arc.AngleStart, circularArcTrack.Arc.AngleEnd);
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theTrack.ControlPointsX = controlPoint.X;
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theTrack.ControlPointsY = controlPoint.Y;
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map.CircularArcTracks.Add(theTrack);
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break;
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}
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case UIBezierTrack bezierTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = bezierTrack.id;
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theTrack.A = bezierTrack.siteA;
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theTrack.B = bezierTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (var kv in bezierTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = bezierTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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//根据typeInfo获取控制点个数
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theTrack.Type = 2;
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var array = bezierTrack.typeInfo.Split(',');
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var num = int.Parse(array[1]);//获取控制点的个数(包括起点和终点)
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var list = new List<Vector2>();
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for (var i = 0; i < num; i++)
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{
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//只记录中间的控制点
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if (i <= 0 || i >= num - 1) continue;
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float x = float.Parse(array[2 + i * 2]);
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float y = float.Parse(array[3 + i * 2]);
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list.Add(new Vector2(x, y));
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}
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theTrack.controlPoints = list;
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map.BezierTracks.Add(theTrack);
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break;
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}
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default:
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break;
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}
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}
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return map;
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}
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}
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public class ArcHelper
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{
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/// <summary>
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/// 获取圆弧控制点
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/// </summary>
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/// <returns></returns>
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public static PointF CalculateControlPoint(float pointStartX, float pointStartY, float pointEndX, float pointEndY, float centerX, float centerY, float radius, float angleStart, float angleEnd)
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{
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PointF center = new PointF(centerX, centerY);
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double startAngle = angleStart * 3.14159 / 180.0;
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double endAngel = angleEnd * 3.14159 / 180.0;
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if (angleStart > angleEnd)//如果起始角度小于结束角度就加上360度
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{
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endAngel += 2 * 3.14159;
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}
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PointF midPoint = new PointF(
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(float)(center.X + radius * Math.Cos((startAngle + endAngel) / 2)),
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(float)(center.Y + radius * Math.Sin((startAngle + endAngel) / 2)));
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return midPoint;
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}
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}
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public class LidarMap
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{
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public string LidarMapsBase64 { get; set; }
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public float DistanceX { get; set; }
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public float DistanceY { get; set; }
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public float Ratio { get; set; }
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private static readonly HttpClient hc = new HttpClient();
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public static async Task<LidarMap> GetLidarMap()
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{
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var par = JsonConvert.DeserializeAnonymousType(await hc.GetStringAsync($"http://127.0.0.1:4321/getMapParameters"),
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new { up = 0f, down = 0f, left = 0f, right = 0f, pt = 0 });
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var lengthWidthRatio =Math.Abs((par.right - par.left) / (par.up - par.down));
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var height = 1024;var width = 1024;
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if (lengthWidthRatio > 1)
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{
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height = (int)(1024 / lengthWidthRatio);
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}
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else
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{
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width = (int)(1024 * lengthWidthRatio);
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}
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var mapBmp= new Bitmap((await hc.GetStreamAsync($"http://127.0.0.1:4321/getMapPng?width={width}&height={height}")));
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for(int x =0;x<mapBmp.Width;x++)
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{
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for (int y = 0; y < mapBmp.Height; y++)
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{
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Color pixColor = mapBmp.GetPixel(x, y);
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if (pixColor.R != 255 || pixColor.G != 255 || pixColor.B != 255)
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{
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mapBmp.SetPixel(x, y, Color.FromArgb(0,pixColor));
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}
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else
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{
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mapBmp.SetPixel(x,y,Color.Black);
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}
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}
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}
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return new LidarMap
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{
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LidarMapsBase64 = "data:image/png;base64," + BitmapToBase64(mapBmp, ImageFormat.Png),
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DistanceX = par.left,
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DistanceY = par.up,
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Ratio = lengthWidthRatio > 1?Math.Abs(par.left-par.right)/1024: Math.Abs(par.up - par.down)/1024,
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};
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}
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static string BitmapToBase64(Bitmap bmp, ImageFormat format)
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{
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using MemoryStream ms = new MemoryStream();
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bmp.Save(ms, format); // 保存格式可以是Png, Jpeg等
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byte[] imageBytes = ms.ToArray();
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string base64String = Convert.ToBase64String(imageBytes);
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return base64String;
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}
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}
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}
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