A usage example of the \Magento\Framework\View\Asset\Repository::getUrlWithParams()

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/** @var $om \Magento\Framework\ObjectManagerInterface */
$om = \Magento\Framework\App\ObjectManager::getInstance();
/** @var $assetRepo \Magento\Framework\View\Asset\Repository */
$assetRepo = $om->get('Magento\Framework\View\Asset\Repository');
/** @var $request \Magento\Framework\App\RequestInterface */
$request = $om->get('Magento\Framework\App\RequestInterface');

$params = array();
$params = array_merge(['_secure' => $request->isSecure()], $params);
echo $assetRepo->getUrlWithParams("Company_MyExtension::images/test.png", $params);