private Node[,] generateNodes(int step)
{
Node[,] nodes = new Node[image_mask.Width / step + 1, image_mask.Height / step + 1];
for (int i = 0; i < nodes.GetLength(0); i++)
{
for (int j = 0; j < nodes.GetLength(1); j++)
{
nodes[i, j] = new Node(new Point(i * step, j * step));
}
}
return nodes;
}
private Dictionary<Point, Node> generateMap(Node[,] nodes)
{
Dictionary<Point, Node> dict = new Dictionary<Point, Node>();
// Build the graph and dictionary
for (int i = 1; i < nodes.GetLength(0) - 1; i++)
{
for (int j = 1; j < nodes.GetLength(1) - 1; j++)
{
nodes[i, j].addLink(nodes[i - 1, j - 1]);
nodes[i, j].addLink(nodes[i + 1, j + 1]);
nodes[i, j].addLink(nodes[i - 1, j + 1]);
nodes[i, j].addLink(nodes[i + 1, j - 1]);
nodes[i, j].addLink(nodes[i + 1, j]);
nodes[i, j].addLink(nodes[i - 1, j]);
nodes[i, j].addLink(nodes[i, j + 1]);
nodes[i, j].addLink(nodes[i, j - 1]);
dict.Add(nodes[i, j].getPoint(), nodes[i, j]);
}
}
// Find points inside unallowed regions
List<Point> removeList = new List<Point>();
foreach (KeyValuePair<Point, Node> d in dict)
{
int x = (int)d.Value.getPoint().X;
int y = (int)d.Value.getPoint().Y;
Color color = image_mask.GetPixel(x, y);
if (color.R < 10 && color.G < 10 && color.B < 10)
{
removeList.Add(d.Key);
}
}
// Remove points from graph and dictionary
foreach (Point p in removeList)
{
Node node = dict[p];
foreach (Node n in node.getLinks())
{
n.removeLink(node);
}
dict.Remove(p);
}
return dict;
}