cob_3d_features::KNNClassifier< PointT > Class Template Reference

k-nearest-neighbor classifier More...

#include <knn_classifier.h>

List of all members.

Public Types
typedef pcl::KdTree< PointT >	KdTree
typedef boost::shared_ptr< KdTree >	KdTreePtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
int	classify (const PointT &p_q)
	classify a single point using the loaded training data
	KNNClassifier ()
int	loadTrainingData (std::string &features_file_name, std::string &labels_file_name)
	load the training data and labels
int	saveTrainingData (std::string &features_file_name, std::string &labels_file_name)
	save the loaded training data and labels
void	setKNeighbors (int k)
	set the k neighbors to search for
void	setTrainingFeatures (const PointCloudPtr &features, std::string &distanceMetric="L2")
	Set a point cloud containing the features samples.
void	setTrainingLabels (const std::vector< int > &labels)
	setTrainingLabels
	~KNNClassifier ()
Protected Attributes
std::string	distanceMetric_
int	k_
std::vector< int >	labels_
int	labels_max_
KdTreePtr	tree_

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Detailed Description

template<typename PointT>
class cob_3d_features::KNNClassifier< PointT >

k-nearest-neighbor classifier

Definition at line 73 of file knn_classifier.h.

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Member Typedef Documentation

template<typename PointT >

typedef pcl::KdTree<PointT> cob_3d_features::KNNClassifier< PointT >::KdTree

Definition at line 84 of file knn_classifier.h.

template<typename PointT >

typedef boost::shared_ptr<KdTree> cob_3d_features::KNNClassifier< PointT >::KdTreePtr

Definition at line 85 of file knn_classifier.h.

template<typename PointT >

typedef pcl::PointCloud<PointT> cob_3d_features::KNNClassifier< PointT >::PointCloud

Definition at line 81 of file knn_classifier.h.

template<typename PointT >

typedef boost::shared_ptr<const PointCloud> cob_3d_features::KNNClassifier< PointT >::PointCloudConstPtr

Definition at line 83 of file knn_classifier.h.

template<typename PointT >

typedef boost::shared_ptr<PointCloud> cob_3d_features::KNNClassifier< PointT >::PointCloudPtr

Definition at line 82 of file knn_classifier.h.

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Constructor & Destructor Documentation

template<typename PointT >

KNNClassifier::KNNClassifier

(

)

Empty constructor

Definition at line 82 of file knn_classifier.cpp.

template<typename PointT >

KNNClassifier::~KNNClassifier

(

)

Empty destructor

Definition at line 87 of file knn_classifier.cpp.

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Member Function Documentation

template<typename PointT >

int KNNClassifier::classify

(

const PointT &

p_q

)

classify a single point using the loaded training data

Parameters:

[in]

p_q

a feature point to be classified

Returns:

the predicted label

Definition at line 209 of file knn_classifier.cpp.

template<typename PointT >

int KNNClassifier::loadTrainingData	(	std::string &	features_file_name,
		std::string &	labels_file_name
	)

load the training data and labels

Parameters:

[in]	features_file_name	path to features file
[in]	labels_file_name	path to labels file

Definition at line 186 of file knn_classifier.cpp.

template<typename PointT >

int KNNClassifier::saveTrainingData	(	std::string &	features_file_name,
		std::string &	labels_file_name
	)

save the loaded training data and labels

Parameters:

[in]	features_file_name	path where the features should be saved
[in]	labels_file_name	path where the labels should be saved

Definition at line 169 of file knn_classifier.cpp.

template<typename PointT >

void KNNClassifier::setKNeighbors

(

int

k

)

set the k neighbors to search for

Definition at line 163 of file knn_classifier.cpp.

template<typename PointT >

void KNNClassifier::setTrainingFeatures	(	const PointCloudPtr &	features,
		std::string &	distanceMetric = "L2"
	)

Set a point cloud containing the features samples.

Parameters:

[in]	features	input feature point cloud
[in]	distanceMetric	L2, L1, HIK, ChiSpuare, Hellinger at the moment only L2 works with the default PCL

Definition at line 146 of file knn_classifier.cpp.

template<typename PointT >

void KNNClassifier::setTrainingLabels

(

const std::vector< int > &

labels

)

setTrainingLabels

Definition at line 156 of file knn_classifier.cpp.

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Member Data Documentation

template<typename PointT >

std::string cob_3d_features::KNNClassifier< PointT >::distanceMetric_ [protected]

Definition at line 136 of file knn_classifier.h.

template<typename PointT >

int cob_3d_features::KNNClassifier< PointT >::k_ [protected]

Definition at line 138 of file knn_classifier.h.

template<typename PointT >

std::vector<int> cob_3d_features::KNNClassifier< PointT >::labels_ [protected]

Definition at line 135 of file knn_classifier.h.

template<typename PointT >

int cob_3d_features::KNNClassifier< PointT >::labels_max_ [protected]

Definition at line 137 of file knn_classifier.h.

template<typename PointT >

KdTreePtr cob_3d_features::KNNClassifier< PointT >::tree_ [protected]

Definition at line 134 of file knn_classifier.h.

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The documentation for this class was generated from the following files:

• knn_classifier.h
• knn_classifier.cpp