public IList <DepthPointEx> ConvexHull(IList <DepthPointEx> points)
{
if (points.Count <= 3)
{
return(points);
}
_points = points;
var pointsSortedByAngle = SortPoints();
int index = 1;
while (index + 1 < pointsSortedByAngle.Count)
{
var value = PointAngleComparer.Compare(pointsSortedByAngle[index - 1], pointsSortedByAngle[index + 1], pointsSortedByAngle[index]);
if (value < 0)
{
index++;
}
else
{
pointsSortedByAngle.RemoveAt(index);
if (index > 1)
{
index--;
}
}
}
pointsSortedByAngle.Add(pointsSortedByAngle.First());
return(pointsSortedByAngle);
}
private IList <DepthPointEx> SortPoints()
{
var p0 = GetMinimumPoint();
var comparer = new PointAngleComparer(p0);
var sortedPoints = new List <DepthPointEx>(_points);
sortedPoints.Remove(p0);
sortedPoints.Insert(0, p0);
sortedPoints.Sort(1, sortedPoints.Count - 1, comparer);
return(sortedPoints);
}