knn_classifier.h

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#ifndef COB_3D_MAPPING_FEATURES_KNN_CLASSIFIER_H_
#define COB_3D_MAPPING_FEATURES_KNN_CLASSIFIER_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>

namespace cob_3d_features
{
  template<typename PointT> class KNNClassifier
  {
  public:
    KNNClassifier();
    ~KNNClassifier();

    typedef pcl::PointCloud<PointT> PointCloud;
    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
    typedef pcl::KdTree<PointT> KdTree;
    typedef boost::shared_ptr<KdTree> KdTreePtr;

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

    void setTrainingLabels(const std::vector<int> &labels);

    void setKNeighbors(int k);

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

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

    int classify(const PointT &p_q);

  protected:
    KdTreePtr tree_;
    std::vector<int> labels_;
    std::string distanceMetric_;
    int labels_max_;
    int k_;

//    int getDominantLabel(std::vector<int> 
  };
}

#endif