vector<PCPolygonPtr> PCPolyhedron::detectPolygons(const PCPtr& cloud, float planeTolerance, float pointsTolerance, bool limitFaces)
{
float DOT_EPSILON = 0.15;
saveCloud("1_toDetect.pcd", *cloud);
PCPtr cloudTemp(cloud);
float maxFaces = limitFaces ? MAX_FACES : 100;
sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2());
sensor_msgs::PointCloud2::Ptr cloud_filtered_blob (new sensor_msgs::PointCloud2);
pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
vector<PCPolygonPtr> nuevos;
PCPtr cloudP (new PC());
pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
pcl::SACSegmentation<pcl::PointXYZ> seg;
pcl::ExtractIndices<pcl::PointXYZ> extract;
std::vector<ofVec3f> vCloudHull;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (50);
seg.setDistanceThreshold (planeTolerance); //original: 0.01
// Create the filtering object
int i = 0, nrPoints = cloudTemp->points.size ();
// mientras 7% de la nube no se haya procesad+o
int numFaces = 0;
while (cloudTemp->points.size () > 0.07 * nrPoints && numFaces < maxFaces)
{
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
// Segment the largest planar component from the remaining cloud
seg.setInputCloud (cloudTemp);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0) {
std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
break;
}
//FIX
PCPtr cloudFilteredTempInliers (new PC());
PCPtr cloudFilteredTempOutliers (new PC());
if(inliers->indices.size() != cloudTemp->size())
{
// Extract the inliers
extract.setInputCloud (cloudTemp);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*cloudFilteredTempInliers);
cloudP = cloudFilteredTempInliers;
}
else
cloudP = cloudTemp;
// Create the filtering object
extract.setInputCloud (cloudTemp);
extract.setIndices (inliers);
extract.setNegative (true);
if(cloudP->size() != cloudTemp->size())
extract.filter (*cloudFilteredTempOutliers);
cloudTemp = cloudFilteredTempOutliers;
saveCloud("2_DetectedPol" + ofToString(i) + ".pcd", *cloudP);
//Remove outliers by clustering
vector<pcl::PointIndices> clusterIndices(findClusters(cloudP, pointsTolerance, 10, 10000));
int debuccount = 0;
PCPtr cloudPFiltered (new PC());
if(clusterIndices.size() > 0)
{
cloudPFiltered = getCloudFromIndices(cloudP, clusterIndices.at(0));
}
saveCloud("3_Postfilter_pol" + ofToString(i) + ".pcd",*cloudPFiltered);
if (cloudPFiltered->size() < 4)
break;
//Controlo que las normales sean perpendiculares
ofVec3f norm (coefficients->values[0],coefficients->values[1],coefficients->values[2]);
norm.normalize();
bool normalCheck = true;
for(int i = 0; i < nuevos.size() && normalCheck; i++)
{
float dot = abs(nuevos[i]->getNormal().dot(norm));
if( dot > DOT_EPSILON)
{
normalCheck = false;
}
}
if(normalCheck)
{
//proyecto los puntos sobre el plano
pcl::ProjectInliers<pcl::PointXYZ> proj;
proj.setModelType(pcl::SACMODEL_PLANE);
PCPtr projectedCloud (new PC());
proj.setInputCloud(cloudPFiltered);
proj.setModelCoefficients(coefficients);
proj.filter(*projectedCloud);
saveCloud("4_Proy_Pol" + ofToString(i) + ".pcd",*projectedCloud);
PCPolygonPtr pcp(new PCQuadrilateral(*coefficients, projectedCloud));
pcp->detectPolygon();
nuevos.push_back(pcp);
numFaces++;
}
i++;
}
return nuevos;
}
void NestedSampler::run(LivePointsReducer &livePointsReducer, const int NinitialIterationsWithoutClustering,
const int NiterationsWithSameClustering, const int maxNdrawAttempts,
const double maxRatioOfRemainderToCurrentEvidence, string pathPrefix)
{
int startTime = time(0);
double logMeanLiveEvidence;
terminationFactor = maxRatioOfRemainderToCurrentEvidence;
outputPathPrefix = pathPrefix;
if (printOnTheScreen)
{
cerr << "------------------------------------------------" << endl;
cerr << " Bayesian Inference problem has " << Ndimensions << " dimensions." << endl;
cerr << "------------------------------------------------" << endl;
cerr << endl;
}
// Save configuring parameters to an output ASCII file
string fileName = "configuringParameters.txt";
string fullPath = outputPathPrefix + fileName;
File::openOutputFile(outputFile, fullPath);
outputFile << "# List of configuring parameters used for the NSMC." << endl;
outputFile << "# Row #1: Ndimensions" << endl;
outputFile << "# Row #2: Initial(Maximum) NlivePoints" << endl;
outputFile << "# Row #3: Minimum NlivePoints" << endl;
outputFile << "# Row #4: NinitialIterationsWithoutClustering" << endl;
outputFile << "# Row #5: NiterationsWithSameClustering" << endl;
outputFile << "# Row #6: maxNdrawAttempts" << endl;
outputFile << "# Row #7: terminationFactor" << endl;
outputFile << "# Row #8: Niterations" << endl;
outputFile << "# Row #9: Optimal Niterations" << endl;
outputFile << "# Row #10: Final Nclusters" << endl;
outputFile << "# Row #11: Final NlivePoints" << endl;
outputFile << "# Row #12: Computational Time (seconds)" << endl;
outputFile << Ndimensions << endl;
outputFile << initialNlivePoints << endl;
outputFile << minNlivePoints << endl;
outputFile << NinitialIterationsWithoutClustering << endl;
outputFile << NiterationsWithSameClustering << endl;
outputFile << maxNdrawAttempts << endl;
outputFile << terminationFactor << endl;
// Set up the random number generator. It generates integer random numbers
// between 0 and NlivePoints-1, inclusive.
uniform_int_distribution<int> discreteUniform(0, NlivePoints-1);
// Draw the initial sample from the prior PDF. Different coordinates of a point
// can have different priors, so these have to be sampled individually.
if (printOnTheScreen)
{
cerr << "------------------------------------------------" << endl;
cerr << " Doing initial sampling of parameter space..." << endl;
cerr << "------------------------------------------------" << endl;
cerr << endl;
}
nestedSample.resize(Ndimensions, NlivePoints);
int beginIndex = 0;
int NdimensionsOfCurrentPrior;
ArrayXXd priorSample;
for (int i = 0; i < ptrPriors.size(); i++)
{
// Some priors cover one particalar coordinate, others may cover two or more coordinates
// Find out how many dimensions the current prior covers.
NdimensionsOfCurrentPrior = ptrPriors[i]->getNdimensions();
// Draw the subset of coordinates randomly from the current prior
priorSample.resize(NdimensionsOfCurrentPrior, NlivePoints);
ptrPriors[i]->draw(priorSample);
// Insert this random subset of coordinates into the total sample of coordinates of points
nestedSample.block(beginIndex, 0, NdimensionsOfCurrentPrior, NlivePoints) = priorSample;
// Move index to the beginning of the coordinate set of the next prior
beginIndex += NdimensionsOfCurrentPrior;
}
// Compute the log(Likelihood) for each of our points in the live sample
logLikelihood.resize(NlivePoints);
for (int i = 0; i < NlivePoints; ++i)
{
logLikelihood(i) = likelihood.logValue(nestedSample.col(i));
}
// Initialize the prior mass interval and cumulate it
double logWidthInPriorMass = log(1.0 - exp(-1.0/NlivePoints)); // X_0 - X_1 First width in prior mass
logCumulatedPriorMass = Functions::logExpSum(logCumulatedPriorMass, logWidthInPriorMass); // 1 - X_1
logRemainingPriorMass = Functions::logExpDifference(logRemainingPriorMass, logWidthInPriorMass); // X_1
// Initialize first part of width in prior mass for trapezoidal rule
// X_0 = (2 - X_1), right-side boundary condition for trapezoidal rule
double logRemainingPriorMassRightBound = Functions::logExpDifference(log(2), logRemainingPriorMass);
double logWidthInPriorMassRight = Functions::logExpDifference(logRemainingPriorMassRightBound,logRemainingPriorMass);
// Find maximum log(Likelihood) value in the initial sample of live points.
// This information can be useful when reducing the number of live points adopted within the nesting process.
logMaxLikelihoodOfLivePoints = logLikelihood.maxCoeff();
// The nested sampling will involve finding clusters in the sample.
// This will require the containers clusterIndices and clusterSizes.
unsigned int Nclusters = 0;
vector<int> clusterIndices(NlivePoints); // clusterIndices must have the same number of elements as the number of live points
vector<int> clusterSizes; // The number of live points counted in each cluster is updated everytime one live point
// is removed from the sample.
// Start the nested sampling loop. Each iteration, we'll replace the point with the worst likelihood.
// New points are drawn from the prior, but with the constraint that they should have a likelihood
// that is better than the currently worst one.
if (printOnTheScreen)
{
cerr << "-------------------------------" << endl;
cerr << " Starting nested sampling... " << endl;
cerr << "-------------------------------" << endl;
cerr << endl;
}
bool nestedSamplingShouldContinue = true;
bool livePointsShouldBeReduced = (initialNlivePoints > minNlivePoints); // Update live points only if required
Niterations = 0;
do
{
// Resize the arrays to make room for an additional point.
// Do so without destroying the original contents.
posteriorSample.conservativeResize(Ndimensions, Niterations + 1);
logLikelihoodOfPosteriorSample.conservativeResize(Niterations + 1);
logWeightOfPosteriorSample.conservativeResize(Niterations + 1);
// Find the point with the worst likelihood. This likelihood value will set a constraint
// when drawing new points later on.
int indexOfLivePointWithWorstLikelihood;
worstLiveLogLikelihood = logLikelihood.minCoeff(&indexOfLivePointWithWorstLikelihood);
// Although we will replace the point with the worst likelihood in the live sample, we will save
// it in our collection of posterior sample. Also save its likelihood value. The weight is
// computed and collected at the end of each iteration.
posteriorSample.col(Niterations) = nestedSample.col(indexOfLivePointWithWorstLikelihood);
logLikelihoodOfPosteriorSample(Niterations) = worstLiveLogLikelihood;
// Compute the (logarithm of) the mean likelihood of the set of live points.
// Note that we are not computing mean(log(likelihood)) but log(mean(likelhood)).
// Since we are only storing the log(likelihood) values, this results in a peculiar
// way of computing the mean. This will be used for computing the mean live evidence
// at the end of the iteration.
logMeanLikelihoodOfLivePoints = logLikelihood(0);
for (int m = 1; m < NlivePoints; m++)
{
logMeanLikelihoodOfLivePoints = Functions::logExpSum(logMeanLikelihoodOfLivePoints, logLikelihood(m));
}
logMeanLikelihoodOfLivePoints -= log(NlivePoints);
// Find clusters in our live sample of points. Don't do this every iteration but only
// every x iterations, where x is given by 'NiterationsWithSameClustering'.
if ((Niterations % NiterationsWithSameClustering) == 0)
{
// Don't do clustering the first N iterations, where N is user-specified. That is,
// the first N iterations we assume that there is only 1 cluster containing all the points.
// This is often useful because initially the points may be sampled from a uniform prior,
// and we therefore don't expect any clustering _before_ the algorithm is able to tune in on
// the island(s) of high likelihood. Clusters found in the first N initial iterations are
// therefore likely purely noise.
if (Niterations < NinitialIterationsWithoutClustering)
{
// There is only 1 cluster, containing all objects. All points have the same cluster
// index, namely 0.
Nclusters = 1;
clusterSizes.resize(1);
clusterSizes[0] = NlivePoints;
fill(clusterIndices.begin(), clusterIndices.end(), 0);
}
else
{
// After the first N initial iterations, we do a proper clustering.
Nclusters = clusterer.cluster(nestedSample, clusterIndices, clusterSizes);
}
}
// Draw a new point, which should replace the point with the worst likelihood.
// This new point should be drawn from the prior, but with a likelihood greater
// than the current worst likelihood. The drawing algorithm may need a starting point,
// for which we will take a randomly chosen point of the live sample (excluding the
// worst point).
int indexOfRandomlyChosenLivePoint = 0;
if (NlivePoints > 1)
{
// Select randomly an index of a sample point, but not the one of the worst point
do
{
// 0 <= indexOfRandomlyChosenLivePoint < NlivePoints
indexOfRandomlyChosenLivePoint = discreteUniform(engine);
}
while (indexOfRandomlyChosenLivePoint == indexOfLivePointWithWorstLikelihood);
}
// drawnPoint will be a starting point as input, and will contain the newly drawn point as output
ArrayXd drawnPoint = nestedSample.col(indexOfRandomlyChosenLivePoint);
double logLikelihoodOfDrawnPoint = 0.0;
bool newPointIsFound = drawWithConstraint(nestedSample, Nclusters, clusterIndices, clusterSizes,
drawnPoint, logLikelihoodOfDrawnPoint, maxNdrawAttempts);
// If the adopted sampler produces an error (e.g. in the case of the ellipsoidal sampler a failure
// in the ellipsoid matrix decomposition), then we can stop right here.
nestedSamplingShouldContinue = verifySamplerStatus();
if (!nestedSamplingShouldContinue) break;
// If we didn't find a point with a better likelihood, then we can stop right here.
if (!newPointIsFound)
{
nestedSamplingShouldContinue = false;
cerr << "Can't find point with a better Likelihood." << endl;
cerr << "Stopping the nested sampling loop prematurely." << endl;
break;
}
// Replace the point having the worst likelihood with our newly drawn one.
nestedSample.col(indexOfLivePointWithWorstLikelihood) = drawnPoint;
logLikelihood(indexOfLivePointWithWorstLikelihood) = logLikelihoodOfDrawnPoint;
// If we got till here this is not the last iteration possible, hence
// update all the information for the next iteration.
// Check if the number of live points has not reached the minimum allowed,
// and update it for the next iteration.
if (livePointsShouldBeReduced)
{
// Update the number of live points for the current iteration based on the previous number.
// If the number of live points reaches the minimum allowed
// then do not update the number anymore.
updatedNlivePoints = livePointsReducer.updateNlivePoints();
if (updatedNlivePoints > NlivePoints)
{
// Terminate program if new number of live points is greater than previous one
cerr << "Something went wrong in the reduction of the live points." << endl;
cerr << "The new number of live points is greater than the previous one." << endl;
cerr << "Quitting program. " << endl;
break;
}
// If the lower bound for the number of live points has not been reached yet,
// the process should be repeated at the next iteration.
// Otherwise the minimun number allowed is reached right now. In this case
// stop the reduction process starting from the next iteration.
livePointsShouldBeReduced = (updatedNlivePoints > minNlivePoints);
if (updatedNlivePoints != NlivePoints)
{
// Resize all eigen arrays and vectors of dimensions NlivePoints according to
// new number of live points evaluated. In case previos and new number
// of live points coincide, no resizing is done.
vector<int> indicesOfLivePointsToRemove = livePointsReducer.findIndicesOfLivePointsToRemove(engine);
// At least one live point has to be removed, hence update the sample
removeLivePointsFromSample(indicesOfLivePointsToRemove, clusterIndices, clusterSizes);
// Since everything is fine update discreteUniform with the corresponding new upper bound
uniform_int_distribution<int> discreteUniform2(0, updatedNlivePoints-1);
discreteUniform = discreteUniform2;
}
}
// Store the new number of live points in the vector containing this information.
// This is done even if the new number is the same as the previous one.
NlivePointsPerIteration.push_back(NlivePoints);
// Compute the mean live evidence given the previous set of live points (see Keeton 2011, MNRAS)
logMeanLiveEvidence = logMeanLikelihoodOfLivePoints + Niterations * (log(NlivePoints) - log(NlivePoints + 1));
// Compute the ratio of the evidence of the live sample to the current Skilling's evidence.
// Only when we gathered enough evidence, this ratio will be sufficiently small so that we can stop the iterations.
ratioOfRemainderToCurrentEvidence = exp(logMeanLiveEvidence - logEvidence);
// Re-evaluate the stopping criterion, using the condition suggested by Keeton (2011)
nestedSamplingShouldContinue = (ratioOfRemainderToCurrentEvidence > maxRatioOfRemainderToCurrentEvidence);
// Shrink prior mass interval according to proper number of live points
// (see documentation by Enrico Corsaro October 2013). When reducing the number of live points
// the equation is a generalized version of that used by Skilling 2004. The equation
// reduces to the standard case when the new number of live points is the same
// as the previous one.
// ---- Use the line below for simple rectangular rule ----
// double logWeight = logWidthInPriorMass;
// --------------------------------------------------------
double logStretchingFactor = Niterations*((1.0/NlivePoints) - (1.0/updatedNlivePoints));
logWidthInPriorMass = logRemainingPriorMass + Functions::logExpDifference(0.0, logStretchingFactor - 1.0/updatedNlivePoints); // X_i - X_(i+1)
// Compute the logWeight according to the trapezoidal rule 0.5*(X_(i-1) - X_(i+1))
// and new contribution of evidence to be cumulated to the total evidence.
// This is done in logarithmic scale by summing the right (X_(i-1) - X_i) and left part (X_i - X_(i+1))
// of the total width in prior mass required for the trapezoidal rule. We do this computation at the end
// of the nested iteration because we need to know the new remaining prior mass of the next iteration.
double logWidthInPriorMassLeft = logWidthInPriorMass;
// ---- Use the line below for trapezoidal rule ----
double logWeight = log(0.5) + Functions::logExpSum(logWidthInPriorMassLeft, logWidthInPriorMassRight);
double logEvidenceContributionNew = logWeight + worstLiveLogLikelihood;
// Save log(Weight) of the current iteration
logWeightOfPosteriorSample(Niterations) = logWeight;
// Update the right part of the width in prior mass interval by replacing it with the left part
logWidthInPriorMassRight = logWidthInPriorMass;
// Update the evidence and the information Gain
double logEvidenceNew = Functions::logExpSum(logEvidence, logEvidenceContributionNew);
informationGain = exp(logEvidenceContributionNew - logEvidenceNew) * worstLiveLogLikelihood
+ exp(logEvidence - logEvidenceNew) * (informationGain + logEvidence)
- logEvidenceNew;
logEvidence = logEvidenceNew;
// Print current information on the screen, if required
if (printOnTheScreen)
{
if ((Niterations % 50) == 0)
{
cerr << "Nit: " << Niterations
<< " Ncl: " << Nclusters
<< " Nlive: " << NlivePoints
<< " CPM: " << exp(logCumulatedPriorMass)
<< " Ratio: " << ratioOfRemainderToCurrentEvidence
<< " log(E): " << logEvidence
<< " IG: " << informationGain
<< endl;
}
}
// Update total width in prior mass and remaining width in prior mass from beginning to current iteration
// and use this information for the next iteration (if any)
logCumulatedPriorMass = Functions::logExpSum(logCumulatedPriorMass, logWidthInPriorMass);
logRemainingPriorMass = logStretchingFactor + logRemainingPriorMass - 1.0/updatedNlivePoints;
// Update new number of live points in NestedSampler class
NlivePoints = updatedNlivePoints;
// Increase nested loop counter
Niterations++;
}
while (nestedSamplingShouldContinue);
// Add the remaining live sample of points to our collection of posterior points
// (i.e parameter coordinates, likelihood values and weights)
unsigned int oldNpointsInPosterior = posteriorSample.cols();
posteriorSample.conservativeResize(Ndimensions, oldNpointsInPosterior + NlivePoints); // First make enough room
posteriorSample.block(0, oldNpointsInPosterior, Ndimensions, NlivePoints) = nestedSample; // Then copy the live sample to the posterior array
logWeightOfPosteriorSample.conservativeResize(oldNpointsInPosterior + NlivePoints);
logWeightOfPosteriorSample.segment(oldNpointsInPosterior, NlivePoints).fill(logRemainingPriorMass - log(NlivePoints)); // Check if the best condition to impose
logLikelihoodOfPosteriorSample.conservativeResize(oldNpointsInPosterior + NlivePoints);
logLikelihoodOfPosteriorSample.segment(oldNpointsInPosterior, NlivePoints) = logLikelihood;
// Compute Skilling's error on the log(Evidence)
logEvidenceError = sqrt(fabs(informationGain)/NlivePoints);
// Add Mean Live Evidence of the remaining live sample of points to the total log(Evidence) collected
logEvidence = Functions::logExpSum(logMeanLiveEvidence, logEvidence);
if (printOnTheScreen)
{
cerr << "------------------------------------------------" << endl;
cerr << " Final log(E): " << logEvidence << " +/- " << logEvidenceError << endl;
cerr << "------------------------------------------------" << endl;
}
// Print total computational time
printComputationalTime(startTime);
// Append information to existing output file and close stream afterwards
outputFile << Niterations << endl;
outputFile << static_cast<int>((NlivePoints*informationGain) + (NlivePoints*sqrt(Ndimensions*1.0))) << endl;
outputFile << Nclusters << endl;
outputFile << NlivePoints << endl;
outputFile << computationalTime << endl;
}
int KmeansClusterer::cluster(RefArrayXXd sample, vector<int> &optimalClusterIndices, vector<int> &optimalClusterSizes)
{
bool convergedSuccessfully;
unsigned int Npoints = sample.cols();
unsigned int Ndimensions = sample.rows();
unsigned int optimalNclusters;
double bestBICvalue = numeric_limits<double>::max();
double BICvalue;
double sumOfDistancesToClosestCenter;
double bestSumOfDistancesToClosestCenter = numeric_limits<double>::max();
vector<int> clusterIndices(Npoints); // For each point the index of the cluster to ...
vector<int> bestClusterIndices(Npoints); // ... which it belongs
ArrayXd clusterSizes; // Not vector<int> because will be used in Eigen array expressions
ArrayXd bestClusterSizes;
ArrayXXd centers;
ArrayXXd bestCenters;
// As we don't know a prior the optimal number of clusters, loop over a
// user-specified range of clusters, and determine which number gives the
// optimal clustering
for (unsigned int Nclusters = minNclusters; Nclusters <= maxNclusters; ++Nclusters)
{
centers = ArrayXXd::Zero(Ndimensions, Nclusters); // coordinates of each of the old cluster centers
bestCenters = ArrayXXd::Zero(Ndimensions, Nclusters); // coordinates of the best centers (over all trials)
clusterSizes = ArrayXd::Zero(Nclusters); // # of points belonging to each cluster...
bestClusterSizes = ArrayXd::Zero(Nclusters); // ... 'double', to avoid casting problems.
// The k-means algorithm is sensitive to the choice of the initial centers.
// We therefore run the algorithm 'Ntrial' times, and take the best clustering.
bestSumOfDistancesToClosestCenter = numeric_limits<double>::max();
for (int m = 0; m < Ntrials; ++m)
{
chooseInitialClusterCenters(sample, centers, Nclusters);
convergedSuccessfully = updateClusterCentersUntilConverged(sample, centers, clusterSizes, clusterIndices,
sumOfDistancesToClosestCenter, relTolerance);
// If the convergence was not successfull (e.g. because some clusters contain 0 or 1 points),
// we likely had an unfortunate set of initial cluster centers. In this case, simply continue
// with the next 'trial'.
if (!convergedSuccessfully) continue;
// If we did obtain a successful convergence, compare it with the previous clusterings
// (all of them with the same number of clusters), and keep the best one.
if (sumOfDistancesToClosestCenter < bestSumOfDistancesToClosestCenter)
{
bestSumOfDistancesToClosestCenter = sumOfDistancesToClosestCenter;
bestCenters = centers;
bestClusterIndices = clusterIndices;
bestClusterSizes = clusterSizes;
}
} // end loop over Ntrials to determine the best clustering trying different initial centers
// Evaluate the current number of clusters, using the BIC value. Note that this is only necessary
// if the user selected more than one particular number of clusters.
if (maxNclusters - minNclusters > 1)
{
BICvalue = evaluateBICvalue(sample, bestCenters, bestClusterSizes, bestClusterIndices);
if (BICvalue < bestBICvalue)
{
// We found a cluster combination that is better than anything found before. Save it.
// In what follows 'best' refers to the best cluster configuration given a specific
// number of clusters. 'optimal' refers to the optimal configuration over all possible
// values for the number of clusters.
bestBICvalue = BICvalue;
optimalNclusters = Nclusters;
optimalClusterIndices = bestClusterIndices;
optimalClusterSizes.resize(Nclusters);
for (int n = 0; n < Nclusters; ++n)
{
optimalClusterSizes[n] = bestClusterSizes(n);
}
}
}
else
{
// User allowed only 1 particular number of clusters. Computation of BIC
// to compare is no longer required.
optimalNclusters = Nclusters;
optimalClusterIndices = bestClusterIndices;
optimalClusterSizes.resize(Nclusters);
for (int n = 0; n < Nclusters; ++n)
{
optimalClusterSizes[n] = bestClusterSizes(n);
}
}
} // end loop over Nclusters
// That's it!
return optimalNclusters;
}