public static List <Vertex> GetOuterContour(IReadOnlyCollection <Contour> contours,
int gridResolution)
{
List <Vertex> outerVertices = new List <Vertex>();
var convexHull = GetConvexHull(contours);
var hullPolygon = convexHull.GetHullPolygon();
ConcurrentBag <BinaryMap> Maps = new ConcurrentBag <BinaryMap>();
BinaryMapSettings settings = new BinaryMapSettings
{
SizeX = gridResolution,
SizeY = gridResolution,
BoundingBox = hullPolygon.GetBounds()
};
for (int i = 0; i < contours.Count; i++)
{
BinaryMap bm = new BinaryMap(settings);
bm.SetContour(contours.ElementAt(i).ToVector2dList());
bm.Id = i;
Maps.Add(bm);
}
BinaryMap refMap = Maps.FirstOrDefault();
foreach (BinaryMap map in Maps)
{
refMap?.OR(map);
}
outerVertices = refMap?.GetBoundary();
return(outerVertices);
}
public BinaryMap(BinaryMapSettings settings)
{
Settings = settings;
SizeX = Settings.SizeX;
SizeY = Settings.SizeY;
IncreaseGridSize(_increase_bounding_box);
_binaryMap = new int[SizeX, SizeY];
_trackingMap = new int[SizeX, SizeY];
Initilize();
}
