void Clustering3D::clusterStartRecursive(SortingType sortingType)
{
mClustersCenter.clear();
mClustersTexCenter.clear();
mClustersFlow.clear();
mClusterSize.clear();
mCluster6DSize.clear();
mHeadSize.clear();
PreciseTimer stat = PreciseTimer::currentTime();
switch (sortingType)
{
case SORT_X:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointX());
break;
case SORT_Y:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointY());
break;
case SORT_Z:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointZ());
break;
case NONE:
break;
}
mSortingTime = stat.usecsTo(PreciseTimer::currentTime());
for (unsigned i = 0; i < mCloud->size(); i++)
{
if ((*mCloud)[i].cluster != 0) {
continue;
}
mIndexes.clear();
mIndexes.push_back((int)i);
clusteringRecursive(mDepth, 0, sortingType);
if (mClusters.back().size() > mSize )
{
bool isGood = true;
int sz = (int)mClustersCenter.size();
mClusters.back().getStat();
for (int i = 0; i < sz; i++)
{
// check if new cluster not down from previous
if (fabs(mClusters.back().mClusterInfo.point.z() - mClustersCenter[i].z()) < mHeadArea &&
fabs(mClusters.back().mClusterInfo.point.x() - mClustersCenter[i].x()) < mHeadArea )
isGood = false;
}
if (isGood)
{
mClustersTexCenter.push_back(mClusters.back().mClusterInfo.texCoor);
mClustersCenter.push_back(mClusters.back().mClusterInfo.point);
mClustersFlow.push_back(mClusters.back().mClusterInfo.speed);
mClusterSize.push_back((int)mClusters.back().size());
mCluster6DSize.push_back(mClusters.back().m6Dpoints);
vector<double> tmpVect = mClusters.back().mEllipse.mValues;
double forMax = 0;
for (unsigned i = 0; i < tmpVect.size(); i++)
{
forMax = forMax < tmpVect[i] ? tmpVect[i] : forMax;
}
mHeadSize.push_back(forMax);
}
if (mClustersCenter.size() == mHeadNumber) break;
}
}
mClusteringTime = stat.usecsTo(PreciseTimer::currentTime());
}
