public void FindNearest_Points_Rednaxela(List <Vertex> vertices)
{
//float fThreshold = kdTreeNeighbourThreshold;
List <Vertex> nearestNeighbours = new List <Vertex>();
for (int i = vertices.Count - 1; i >= 0; i--)
{
Vertex vToCheck = vertices[i];
// Perform a nearest neighbour search around that point.
KDTreeRednaxela.NearestNeighbour <EllipseWrapper> pIter = null;
KDTreeVertex kv = KDTreeVertex.Instance;
pIter = kv.KdTree_Rednaxela.FindNearest_EuclidDistance(new double[] { vToCheck.Vector.X, vToCheck.Vector.Y, vToCheck.Vector.Z }, NumberOfNeighboursToSearch, -1);
int neighboursFound = 0;
while (pIter.MoveNext())
{
EllipseWrapper wr = pIter.Current;
Vertex vNeighbour = wr.Vertex;
if (vToCheck != vNeighbour)
{
if (!vToCheck.IndexNeighbours.Contains(vNeighbour.IndexInModel))
{
vToCheck.IndexNeighbours.Add(vNeighbour.IndexInModel);
vToCheck.DistanceNeighbours.Add(pIter.CurrentDistance);
}
for (int j = vNeighbour.IndexNeighbours.Count - 1; j >= 0; j--)
{
if (vNeighbour.IndexNeighbours[j] == vToCheck.IndexInModel)
{
vNeighbour.IndexNeighbours.RemoveAt(j);
vNeighbour.DistanceNeighbours.RemoveAt(j);
}
}
neighboursFound = vToCheck.DistanceNeighbours.Count;
//if (!vNeighbour.IndexNeighbours.Contains(vToCheck.IndexInModel))
//{
// vNeighbour.IndexNeighbours.Add(vToCheck.IndexInModel);
// vNeighbour.DistanceNeighbours.Add(pIter.CurrentDistance);
//}
if ((neighboursFound) > NumberOfNeighboursToSearch)
{
break;
}
}
}
}
TimeCalc.ShowLastTimeSpan("Find neighbours");
//RemoveAllVerticesBasedOnRadius(vertices);
}
private void PrepareTargetTree(PointCloudVertices pointCloudTarget)
{
//second object:
//-----------
pointCloudTargetCentered = CalculatePCA_Internal(pointCloudTarget);
//pointCloudTargetCentered = ShiftByCenterOfMass(pointCloudTarget);
kdtree = new KDTreeVertex();
kdtree.BuildKDTree_Rednaxela(pointCloudTargetCentered);
pointCloudResult = null;
pointCloudTargetKDTree = null;
}
public static List <Vector3> CalculateNormals_PCA(PointCloudVertices pointCloud, int numberOfNeighbours, bool centerOfMassMethod, bool flipNormalWithOriginVector)
{
KDTreeVertex kv = new KDTreeVertex();
kv.NumberOfNeighboursToSearch = numberOfNeighbours;
kv.BuildKDTree_Rednaxela(pointCloud);
kv.ResetVerticesLists(pointCloud);
kv.FindNearest_NormalsCheck_Rednaxela(pointCloud, false);
PCA pca = new PCA();
List <Vector3> normals = pca.Normals(pointCloud, centerOfMassMethod, flipNormalWithOriginVector);
return(normals);
}
public KDTreeVertex()
{
NumberOfNeighboursToSearch = 5;
KDTreeMode = KDTreeMode.Rednaxala;
instance = this;
}