I think you can try something like this:

var visitorGroupRepository = ServiceLocator.Current.GetInstance<IVisitorGroupRepository>();
                var visitorGroupRoleRepository = ServiceLocator.Current.GetInstance<IVisitorGroupRoleRepository>();

                var helper = new VisitorGroupHelper(visitorGroupRoleRepository);
                var groups = visitorGroupRepository.List();
                
                foreach (var visitorGroup in groups)
                {
                    if(helper.IsPrincipalInGroup(User,visitorGroup.Name))
                        // add to your collection
                }

Hello! Thanks for your answer!

For me it worked the code below, in case there is someone who needs this.

private List<string> GetVisitorGroupIdsByCurrentUser(HttpContextBase httpContext)
{
var visitorGroupId = new List<string>();
var user = httpContext.User;
var visitorGroups = _visitorGroupRepository.List();
foreach (var visitorGroup in visitorGroups)
{
if (_visitorGroupRoleRepository.TryGetRole(visitorGroup.Name, out var virtualRoleObject))
{
if (virtualRoleObject.IsMatch(user, httpContext))
{
visitorGroupId.Add(visitorGroup.Id.ToString());
}
}
}

return visitorGroupId;
}