/// <summary>
/// </summary>
/// <param name="cloud"></param>
/// <param name="detectionParameters"></param>
/// <param name="mergingParameters"></param>
/// <returns></returns>
public IList <Tree> DetectPotentialTrees(Cloud cloud, DetectionParameters detectionParameters, MergingParameters mergingParameters)
{
var pointSets = DetectTrunkPointSets(cloud, detectionParameters).SelectMany(group => group.PointSets).ToList();
var pointSetGroup = new PointSetGroup(pointSets);
var potentialTrees = pointSetGroup.BuildTrees(mergingParameters);
return(FilterTrees(potentialTrees, detectionParameters.TreeFilters));
}
/// <summary>
/// Extracts height-based collection of PointSetGroups that are considered as part of tree trunk.
/// </summary>
/// <param name="cloud"></param>
/// <param name="detectionParameters"></param>
/// <returns></returns>
public IList <PointSetGroup> DetectTrunkPointSets(Cloud cloud, DetectionParameters detectionParameters)
{
_logger?.LogInformation("Starting cloud slicing...");
var slices = cloud.Slice(detectionParameters.SliceHeight).ToList();
_logger?.LogInformation("Cloud sliced");
_logger?.LogTrace($"Slices count: {slices.Count}");
_logger?.LogInformation("Starting point grouping...");
var groups = slices.Select(slice =>
slice?.GroupByDistance(detectionParameters.MeshWidth, detectionParameters.MinimalPointsPerMesh)
).Where(slice => slice != null).ToList();
_logger?.LogInformation("Points grouped...");
_logger?.LogInformation("Starting filtering...");
return(groups.Select((group, index) =>
{
ProgressTracker.Progress(EProgressStage.NoiseFiltering, "Filtering Noise", index, groups.Count);
return @group.Filter(detectionParameters.PointSetFilters);
}).Where(x => x != null).ToList());
}