Exemple #1
0
 private bool Helper_FindNeighbours(ref PointCloudVertices pointsSource, ref PointCloudVertices pointsTarget, KDTreeVertex kdTree, float angleThreshold)
 {
     if (!ICPSettings.FixedTestPoints)
     {
         if (ICPSettings.KDTreeMode == KDTreeMode.Stark)
         {
             pointsTarget = kdTree.FindNearest_Stark(pointsSource, pointsTarget);
         }
         else if (ICPSettings.KDTreeMode == KDTreeMode.Rednaxela)
         {
             pointsTarget = kdTree.FindNearest_Rednaxela_Parallel(ref pointsSource, pointsTarget, angleThreshold);
             //pointsTarget = kdTree.FindNearest_Rednaxela(ref pointsSource, pointsTarget, angleThreshold);
         }
         else if (ICPSettings.KDTreeMode == KDTreeMode.Rednaxela_ExcludePoints)
         {
             pointsTarget = kdTree.FindNearest_Rednaxela_ExcludePoints(pointsSource, pointsTarget, false);
         }
         else if (ICPSettings.KDTreeMode == KDTreeMode.BruteForce)
         {
             pointsTarget = kdTree.FindNearest_BruteForce(pointsSource, pointsTarget);
         }
     }
     else
     {
         //adjust number of points - for the case if there are outliers
         int min = pointsSource.Count;
         if (pointsTarget.Count < min)
         {
             min = pointsTarget.Count;
             pointsSource.RemoveRange(pointsTarget.Count, pointsSource.Count - min);
         }
         else
         {
             pointsTarget.RemoveRange(pointsSource.Count, pointsTarget.Count - min);
         }
     }
     return(true);
 }