freegripcontactpairs.py 文件源码

def clusterFacetSamplesKNN(self, reduceRatio=3, maxNPnts=5):
        """
        cluster the samples of each facet using k nearest neighbors
        the cluster center and their correspondent normals will be saved
        in self.objsamplepnts_refcls and self.objsamplenrmals_refcls

        :param: reduceRatio: the ratio of points to reduce
        :param: maxNPnts: the maximum number of points on a facet
        :return: None

        author: weiwei
        date: 20161129, tsukuba
        """

        self.objsamplepnts_refcls = np.ndarray(shape=(self.facets.shape[0],), dtype=np.object)
        self.objsamplenrmls_refcls = np.ndarray(shape=(self.facets.shape[0],), dtype=np.object)
        for i, facet in enumerate(self.facets):
            self.objsamplepnts_refcls[i] = np.empty(shape=(0,0))
            self.objsamplenrmls_refcls[i] = np.empty(shape=(0,0))
            X = self.objsamplepnts_ref[i]
            nX = X.shape[0]
            if nX > reduceRatio:
                kmeans = KMeans(n_clusters=maxNPnts if nX/reduceRatio>maxNPnts else nX/reduceRatio, random_state=0).fit(X)
                self.objsamplepnts_refcls[i] = kmeans.cluster_centers_
                self.objsamplenrmls_refcls[i] = np.tile(self.facetnormals[i], [self.objsamplepnts_refcls.shape[0],1])