private static List <int> getCornerIdx(List <Vector3> rPoints)
{
List <int> corners = new List <int>();
// first point is a corner
corners.Add(0);
List <float> straws = new List <float>();
// store "straw" distances between spaced apart points
for (int i = STRAW_WINDOW; i < (rPoints.Count - STRAW_WINDOW); i++)
{
Vector3 p1 = rPoints[i - STRAW_WINDOW];
Vector3 p2 = rPoints[i + STRAW_WINDOW];
straws.Add(Vector3.Distance(p1, p2));
}
// determine a threshold value in order to eliminate longer straws
float t = QuickMedian.Median(new List <float>(straws)) * MEDIAN_THRESHOLD;
// collect the point indeces corresponding to the shortest straws
// in each region
for (int i = STRAW_WINDOW; i < (rPoints.Count - STRAW_WINDOW); i++)
{
// check if straw corresponding to current point is below
// median threshold
if (straws[pointToStrawIdx(i)] < t)
{
float min = float.MaxValue;
int minIdx = i;
// continue searching for index of point corresponding to the
// shortest straw in this region
while ((pointToStrawIdx(i)) < straws.Count &&
straws[pointToStrawIdx(i)] < t)
{
if (straws[pointToStrawIdx(i)] < min)
{
min = straws[pointToStrawIdx(i)];
minIdx = i;
}
i++;
}
// save shortest straw in region
corners.Add(minIdx);
}
}
// add final point as a corner
corners.Add(rPoints.Count - 1);
corners = postProcessCorners(rPoints, corners, straws);
return(corners);
}
public void MedianTest()
{
List <float> vals1 = new List <float> {
5.1F, -2.0F, 10.5F, 3.2F, -1.2F, -2.0F, 4.0F
};
Assert.AreEqual(QuickMedian.Median(vals1), 3.2F);
List <float> vals2 = new List <float> {
5.1F, -2.0F, 10.5F, 3.2F, -1.2F, -2.0F, 4.0F, 11.0F
};
Assert.AreEqual(QuickMedian.Median(vals1), 3.2F);
}
