void OPTICSFilter::expandClusterOrder(OPTICSObject_Ptr node) {
OPTICSObjectVector_Ptr epsilonNeighbors = getEpsilonNeighbors(node);
node->processed = true;
// output p to the ordered list
_orderedObjects.push_back(node);
OPTICSObjectVector_Ptr seeds(new OPTICSObjectVector);
if (node->coreDistance != UNDEFINED_DISTANCE) {
updateSeeds(epsilonNeighbors, node, seeds);
while (!seeds->empty()) {
OPTICSObject_Ptr currentObject = seeds->back();
seeds->pop_back();
OPTICSObjectVector_Ptr currentObjectEpsilonNeighbors = getEpsilonNeighbors(currentObject);
// output q to the ordered list
if (currentObject->processed == false) {
_orderedObjects.push_back(currentObject);
currentObject->processed = true;
} else
continue;
if (currentObject->coreDistance != UNDEFINED_DISTANCE) {
updateSeeds(currentObjectEpsilonNeighbors, currentObject, seeds);
}
}
}
}
void DepthFilter::updateSeedsLoop()
{
while(!boost::this_thread::interruption_requested())
{
FramePtr frame;
{
lock_t lock(frame_queue_mut_);
while(frame_queue_.empty() && new_keyframe_set_ == false)
frame_queue_cond_.wait(lock);
if(new_keyframe_set_)
{
new_keyframe_set_ = false;
seeds_updating_halt_ = false;
clearFrameQueue();
frame = new_keyframe_;
}
else
{
frame = frame_queue_.front();
frame_queue_.pop();
}
}
updateSeeds(frame);
if(frame->isKeyframe())
initializeSeeds(frame);
}
}
void DepthFilter::addFrame(FramePtr frame)
{
if(thread_ != NULL)
{
{
lock_t lock(frame_queue_mut_);
if(frame_queue_.size() > 2)
frame_queue_.pop();
frame_queue_.push(frame);
}
seeds_updating_halt_ = false;
frame_queue_cond_.notify_one();
}
else
updateSeeds(frame);
}
