/// <summary>
/// Recursively searches for the highest point connected to the startindex. The search stops when the maximum searchdepth is reached.
/// </summary>
/// <param name="currentIndex"></param>
/// <param name="searchDepth"></param>
/// <returns></returns>
public static int GetHighestConnectingPoint(int currentIndex, int searchDepth)
{
float currentDepth = GlobVar.SubtractedFilteredPointCloud[currentIndex].Z;
int[] neighbours = GlobUtils.GetNeighbour5X5IndexList(currentIndex);
int highestNeighbourIndex = currentIndex;
float shallowestNeighbourDepth = currentDepth;
for (int i = 0; i < neighbours.Length; i++)
{
int neighbourIndex = neighbours[i];
if (!GlobUtils.BoundaryCheck(neighbourIndex))
{
continue;
}
CameraSpacePoint neighbour = GlobVar.SubtractedFilteredPointCloud[neighbourIndex];
if (neighbour.Z < shallowestNeighbourDepth && !float.IsInfinity(neighbour.X) && !float.IsInfinity(neighbour.Y))
{
shallowestNeighbourDepth = neighbour.Z;
highestNeighbourIndex = neighbourIndex;
}
}
if (highestNeighbourIndex == currentIndex || searchDepth == 0)
{
return(currentIndex);
}
searchDepth--;
return(GetHighestConnectingPoint(highestNeighbourIndex, searchDepth));
}
public static void DrawPoint(Point point)
{
int x = point.X;
int y = point.Y;
int i;
i = GlobUtils.GetIndex(x, y);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x + 1, y - 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x + 1, y);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x + 1, y + 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x - 1, y - 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x - 1, y);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x - 1, y + 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x, y + 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
i = GlobUtils.GetIndex(x, y - 1);
if (GlobUtils.BoundaryCheck(i))
{
GlobVar.GraphicsCanvas[i] = (byte)255;
}
}
