static void PrintCorridorMap(Map map, XY initial, int blueThreshold)
{
BinaryMatrix discovered = new BinaryMatrix(map.Width, map.Height);
BinaryMatrix corridors = new BinaryMatrix(map.Width, map.Height);
BinaryMatrix obstacles = map.ScanObstacles(blueThreshold);
Queue <XY> queue = new Queue <XY>();
queue.Enqueue(initial);
discovered[initial.X, initial.Y] = true;
while (queue.Count > 0)
{
XY point = queue.Dequeue();
corridors[point] = true;
foreach (XY neighbor in point.GetNeighbors())
{
if (
neighbor.IsInsideBox(map.Box) &&
!discovered[neighbor] &&
!obstacles[neighbor]
)
{
discovered[neighbor] = true;
queue.Enqueue(neighbor);
}
}
}
corridors.ToBitmap(Color.Black, Color.Green).Save(FILE_BASE + "background-corridors.jpg");
}
static void PrintSegmentMap(Map map, int blueThreshold)
{
BinaryMatrix discovered = new BinaryMatrix(map.Width, map.Height);
BinaryMatrix obstacles = map.ScanObstacles(blueThreshold);
List <Cluster> clusters = new List <Cluster>();
for (int x = 0; x < map.Width; x++)
{
for (int y = 0; y < map.Height; y++)
{
if (!discovered[x, y] && obstacles[x, y])
{
discovered[x, y] = true;
Cluster cluster = new Cluster();
Queue <XY> queue = new Queue <XY>();
queue.Enqueue(new XY(x, y));
while (queue.Count > 0)
{
XY point = queue.Dequeue();
cluster.AddPoint(point);
foreach (XY neighbor in point.GetNeighbors())
{
if (
neighbor.IsInsideBox(map.Box) &&
!discovered[neighbor] &&
obstacles[neighbor]
)
{
discovered[neighbor] = true;
queue.Enqueue(neighbor);
}
}
}
clusters.Add(cluster);
}
}
}
Console.WriteLine("Discovered {0} clusters", clusters.Count);
Bitmap clustersMap = new Bitmap(map.Width, map.Height);
for (int x = 0; x < map.Width; x++)
{
for (int y = 0; y < map.Height; y++)
{
clustersMap.SetPixel(x, y, Color.Black);
}
}
foreach (Cluster cluster in clusters)
{
for (int x = cluster.Left; x <= cluster.Right; x++)
{
for (int y = cluster.Top; y <= cluster.Bottom; y++)
{
clustersMap.SetPixel(x, y, Color.Red);
}
}
}
clustersMap.Save(FILE_BASE + "background-segments.jpg");
}