/// <summary>
/// returns arbNumber many planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple <List <List <Point3D> >, double> pullAll(PointCloud pc, int arbNumber)
{
double xmin = pc.getxMin();
double xmax = pc.getxMax();
double zmin = pc.getzMin();
double zmax = pc.getzMax();
double[] limits = { xmin, zmin, xmax, zmax };
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double increment = (ymax - ymin) / arbNumber;
List <List <Point3D> > output = new List <List <Point3D> >();
for (double i = ymin + (increment / 2); i <= ymax - (increment / 2); i = i + increment)
{
List <Point3D> plane = pc.getKDTree().getAllPointsAt(i, increment / 2, limits);
plane = SubSampler.averageSubSample(plane, sampleNumber);
plane = PointSorter.clockSort(plane);
output.Add(plane);
}
return(Tuple.Create(output, increment));
}
/// <summary>
/// returns arbNumber many planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple<List<List<Point3D>>, double> pullAll(PointCloud pc, int arbNumber)
{
double xmin = pc.getxMin();
double xmax = pc.getxMax();
double zmin = pc.getzMin();
double zmax = pc.getzMax();
double[] limits = { xmin, zmin, xmax, zmax };
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double increment = (ymax - ymin) / arbNumber;
List<List<Point3D>> output = new List<List<Point3D>>();
for (double i = ymin + (increment / 2); i <= ymax - (increment / 2); i = i + increment)
{
List<Point3D> plane = pc.getKDTree().getAllPointsAt(i, increment / 2, limits);
plane = SubSampler.averageSubSample(plane, sampleNumber);
plane = PointSorter.clockSort(plane);
output.Add(plane);
}
return Tuple.Create(output,increment);
}
/// <summary>
/// Returns the height of a point cloud in real world measurements, aka metres
/// </summary>
/// <param name="pc">PointCloud</param>
/// <returns>double</returns>
public static double getHeight(PointCloud pc)
{
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double height = ymax - ymin;
height = UnitConvertor.convertPCM(height,1);
return height;
}
/// <summary>
/// Returns the height of a point cloud in real world measurements, aka metres
/// </summary>
/// <param name="pc">PointCloud</param>
/// <returns>double</returns>
public static double getHeight(PointCloud pc)
{
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double height = ymax - ymin;
height = UnitConvertor.convertPCM(height, 1);
return(height);
}
