//------------------------------------------------------------------------------
void Segment(ref List <Surface> SC, ref List <ModelBase> m)
{
if (leafCount > SurfaceController._MINNODESURF)
{
int trails = 1;
ModelBase[] candidateLst = new ModelBase[4];
ModelBase TopModel = null;
int nm = 0; // number of models under test
int topsz = 0;
int topflag = 0;
int[] contiq;
int topValidCount = 0;
double prob = 0.0d;
while (
(prob < SurfaceController._RANSACPROB) &&
(Surface.RansacPEqN(trails, leafCount) < SurfaceController._RANSACPROB) &&
(trails < SurfaceController._RANSACPNUM)
)
{
Vectors[] pts = new Vectors[SurfaceController._MSSETSIZE];
Vectors[] ptsN = new Vectors[SurfaceController._MSSETSIZE];
for (int i = 0; i < SurfaceController._MSSETSIZE; i++)
{
int k = C.CONST.iRANDOM(0, leafCount - 1);
pts[i] = _leafs[k].Sigma;
ptsN[i] = _leafs[k].Norm;
}
candidateLst[0] = new ModelPlane(pts, ptsN);
//candidateLst[0].Initialize() ;
if (candidateLst[0].Initialize())
{
// plane could fit the data
nm++;
}
if (nm == 0)
{
// create other canidates
candidateLst[nm] = new ModelCylinder(pts, ptsN);
if (candidateLst[nm].Initialize())
{
nm++;
}
candidateLst[nm] = new ModelCone(pts, ptsN);
if (candidateLst[nm].Initialize())
{
nm++;
}
candidateLst[nm] = new ModelSphere(pts, ptsN);
if (candidateLst[nm].Initialize())
{
nm++;
}
}
// test models
while (nm > 0)
{
nm--;
int ValidCount = candidateLst[nm].Eval(_leafs);
if (ValidCount > SurfaceController._MINNODESURF)
{
if (ValidCount > topsz)
{
candidateLst[nm].refine(_leafs, true);
ValidCount = candidateLst[nm].Eval(_leafs);
FlagSubset(out contiq, null);
if (contiq[contiq[0]] > topsz)
{
topValidCount = ValidCount;
TopModel = candidateLst[nm];
topflag = contiq[0];
topsz = contiq[topflag];
}
} //if ValidCount>topsz
}
} //while nm > 0
trails++;
if (TopModel != null)
{
prob = TopModel.probabillity4(trails, topsz, topValidCount, this._leafs.Count);
}
}// while nm > 0
if (TopModel != null)
{
// recompute largest subset
TopModel.Eval(Leafs);
FlagSubset(out contiq, null);
int flag = contiq[0];
split(flag, ref SC);
TopModel.refine(Leafs, false);
m.Add(TopModel);
} // if TopModel
} // if leafscount> minsurf
}