38 lines
1.6 KiB
C#
38 lines
1.6 KiB
C#
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using System;
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namespace MultiWheelC.TrajectoryPlanning.Mapping;
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/// <summary>从只读规划地图生成简单的 RGBA 占据图字节数组。</summary>
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internal static class PlanningMapImageRenderer
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{
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/// <summary>
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/// 渲染规划地图为行主序 RGBA 像素。
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///
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/// 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。
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/// 返回：长度为 width × height × 4 的 RGBA 字节数组；不会修改地图。
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/// </summary>
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public static byte[] Render(PlanningGridMap map, int pixelsPerCell, out int width, out int height)
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{
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if (map == null) throw new ArgumentNullException(nameof(map));
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width = checked(map.Cols * pixelsPerCell);
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height = checked(map.Rows * pixelsPerCell);
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var rgba = new byte[checked(width * height * 4)];
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for (int row = 0; row < map.Rows; row++)
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for (int col = 0; col < map.Cols; col++)
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{
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bool occupied = map.IsOccupied(row, col);
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byte red = occupied ? (byte)220 : (byte)245;
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byte green = occupied ? (byte)45 : (byte)245;
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byte blue = occupied ? (byte)45 : (byte)245;
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int displayRow = map.Rows - 1 - row;
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for (int py = 0; py < pixelsPerCell; py++)
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for (int px = 0; px < pixelsPerCell; px++)
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{
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int index = ((displayRow * pixelsPerCell + py) * width + col * pixelsPerCell + px) * 4;
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rgba[index] = red; rgba[index + 1] = green; rgba[index + 2] = blue; rgba[index + 3] = 255;
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}
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}
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return rgba;
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}
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}
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