void Candidate::Reindex(const MiscLib::Vector< int > &newIndices, int minInvalidIndex,
size_t mergedSubsets, const MiscLib::Vector< size_t > &subsetSizes,
const PointCloud &pc, size_t currentSize, float epsilon, float normalThresh,
float bitmapEpsilon)
{
size_t i = 0, j = 0;
for(; i < m_indices->size(); ++i)
if(newIndices[(*m_indices)[i]] < minInvalidIndex)
(*m_indices)[j++] = newIndices[(*m_indices)[i]];
if(m_subset <= mergedSubsets)
{
m_hasConnectedComponent = false;
m_subset = 0;
m_indices->clear();
m_lowerBound = 0;
m_upperBound = 0; // forget this candidate
m_score = 0;
return;
}
else
{
m_indices->resize(j);
m_subset -= mergedSubsets;
if(m_subset >= subsetSizes.size())
// do connected component if all subsets have been computed
ConnectedComponent(pc, bitmapEpsilon);
}
size_t sampledPoints = 0,
endi = std::min(m_subset, subsetSizes.size());;
for(i = 0; i < endi; ++i)
sampledPoints += subsetSizes[i];
GetBounds(sampledPoints, currentSize);
}
void ompl::LTLVis::ComponentMap::reset(void)
{
components_.clear();
components_.push_back(ConnectedComponent(components_.size()));
}
ompl::LTLVis::tIndex ompl::LTLVis::ComponentMap::makeNewComponent(void)
{
ompl::LTLVis::tIndex retq = components_.size();
components_.push_back(ConnectedComponent(components_.size()));
return(retq);
}
