private List<DBSCANCluster> AngularSegmentation(DBSCAN dbscan, Scan360 scan, float eps, int minPoints)
{
scan.EstimateLocalAngle();
List<DBSCANCluster> clusters=dbscan.Cluster(scan.readings, eps, minPoints, new AngleComparer(), new AngleCircularMetric());
foreach (DBSCANCluster c in clusters)
foreach (ScanPoint dp in c)
dp.ParallelCluster = c.Id;
return clusters;
}
private List<DBSCANCluster> DistanceSegmentation(DBSCAN dbscan, DBSCANCluster c, ref int clusterOffset, float eps, int minPoints)
{
float angle = ScanPoint.MeanCircularAngle0Pi(c);
float cos = Mathf.Cos(angle);
float sin = Mathf.Sin(angle);
foreach (ScanPoint p in c)
p.Distance = p.Point.x * cos + p.Point.z * sin;
List<DBSCANCluster> clusters=dbscan.Cluster(c, eps, minPoints, new DistanceComparer(), new DistanceMetric());
if (clusters.Count == 0)
return new List<DBSCANCluster>();
foreach (DBSCANCluster dc in clusters)
foreach (ScanPoint p in dc)
p.DistanceCluster = dc.Id + clusterOffset;
clusterOffset += clusters[clusters.Count - 1].Id;
return clusters;
}