Write some Software - Point Cloud Data smoothing ( .PCD PCL file type).

If you bid, please write something to show you have at least read and understand the requirements. Thanks :) Deliverables: Create a small self-contained c++ software program for Windows 10 that I can use to correct data in a PCD point cloud file. A command line interface is fine. Example point cloud file provided ([login to view URL]) The algorithm will have the following 3 inputs: (1) Input filename (2) Sphere radius (3) Smoothing limit It should work thought all points in the point cloud and apply some logic (see attachment). Logic also listed below Algorithm Logic: Go through every point in the point cloud and: (1) Take the current point and find all points surrounding it within a 3D sphere of a given radius ie. ‘Sphere radius’. For example, if the ‘‘Sphere radius’ is 5mm, it should find all points within a 3D radius of 5mm surrounding this point. (2) With these found points, find the median hair length. E.g. it may find 8 point within a 3D sphere of 5mm radius. These 8 points may have the following hair lengths. (16.7, 17.1, 22.3, 14.5, 17.9, 16.7, 40.6, 15.5). The median in this case would be 16.9mm (median of 14.5, 15.5, 16.7, 16.7, 17.1, 17.9, 22.3, 40.6) (3) If the hair length of the current point is not within the “Smoothing limit” bounds of this median, then set the current point hair length to the median value. For example, if the “Smoothing limit” = 10mm, and the hair length of the current point in 40mm, then the current length is out of bounds i.e. 40mm is outside of median +- “Smoothing limit”. i.e. 16.9+- 10mm. In this case the 40mm hair length should changed to the median of 16.9mm. If the current point’s hair length was 22mm, then it should not be changed as it falls within the bounds of 16.9mm +- 10mm. (4) The file should be saved using the original file name Notes: • The hair lengths should only be updated at the end AFTER the algorithm goes through all points. I don’t want algorithm effecting itself while it is running. • The program should be self contained exe, so anyone can run it on Windows 10. A command prompt interface is fine. Preferable C++. Source file must be provided too (in case I want to make changes months down the track).Would be nice if you could include a visual studio 2010 project. • Only hair length values should be updated in the PCD file • A example PCD file in included “[login to view URL]” • The hair length is the 4th column in (see below)