/// <summary>
///
/// </summary>
/// <param name="passedList"></param>
/// <param name="index"></param>
/// <param name="minCommonality"></param>
/// <returns>the intersectBucket is created By comBing the passedList[idex] with all passedList[index + i] that have a min percentage points ie common. the int is the first idex nOT comined </returns>
private static Tuple <intersectBucket, int> combinefoward(List <intersectBucket> passedList, int index, int minCommonality)
{
intersectBucket returnBucket = passedList[index];
int i = index + 1;
int consecutiveMisses = 0;
for (i = index + 1; consecutiveMisses <= 3 && i < passedList.Count(); i++)
{
int comparevalue = compare(returnBucket, passedList[i]);
if (comparevalue > minCommonality)
{
List <LidarPoint> pointsToAdd = setSubtraction(passedList[i], returnBucket);
foreach (LidarPoint thispoint in pointsToAdd)
{
returnBucket.AddPoint(thispoint);
}
consecutiveMisses = 0;
}
else
{
consecutiveMisses++;
}
}
return(new Tuple <intersectBucket, int>(returnBucket, i - consecutiveMisses));
}
static private List <LidarPoint> setSubtraction(intersectBucket LeftBucket, intersectBucket rightBucket)
{
return(LeftBucket.points.Except(rightBucket.points, new LidarPointCompare()).ToList());
/*
* List<LidarPoint> returvalue = new List<LidarPoint>();
* foreach (LidarPoint p1 in LeftBucket.points)
* {
* bool found = false;
* foreach (LidarPoint p2 in rightBucket.points)
* {
*
* if (p1.id == p2.id)
* {
* found = true;
* break;
* }
*
* if (!found)
* {
* returvalue.Add(p1);
* }
* }
* }
*
* return returvalue;
*/
}
/// <summary>
///
/// </summary>
/// <param name="Bucket2"></param>
/// <returns>an numBer Between 0 and 100. 0 -> no point in common. 100 -> the smaller list is a suset of the larger list. Other value is a percetage of commonality</returns>
public static int compare(intersectBucket Bucket1, intersectBucket Bucket2)
{
List <LidarPoint> itersection = setItersection(Bucket1, Bucket2);
if (Bucket1.points.Count() < Bucket2.points.Count())
{
return(100 * itersection.Count() / Bucket1.points.Count());
}
else
{
return(100 * itersection.Count() / Bucket2.points.Count());
}
/*
* Unable to cast object of type '<IntersectIterator>d__92`1[Yeti2015.Hardware.Lidar.LidarPoint]' to type 'System.Collections.Generic.List`1[Yeti2015.Hardware.Lidar.LidarPoint]'.
*/
}
/// <summary>
/// geerates the set itersectio. that is the poits commo to oth uckets
/// </summary>
/// <param name="Bucket1"></param>
/// <param name="Bucket2"></param>
/// <returns></returns>
static private List <LidarPoint> setItersection(intersectBucket Bucket1, intersectBucket Bucket2)
{
return(Bucket1.points.Intersect(Bucket2.points, new LidarPointCompare()).ToList());
/*
* List<LidarPoint> returvalue = new List<LidarPoint>();
* foreach(LidarPoint p1 in Bucket1.points)
* {
* foreach (LidarPoint p2 in Bucket2.points)
* {
* if (p1.id == p2.id)
* {
* returvalue.Add(p1);
* break;
* }
*
*
* }
* }
*
* return returvalue;
*/
}
