kmeans.h
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*
* Author : Christian Potthast
* Email : potthast@usc.edu
*
*/
#ifndef PCL_KMEANS_H_
#define PCL_KMEANS_H_
#include <set>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/common/io.h>
#include <pcl/pcl_base.h>
namespace pcl
{
/** \brief @b K-means clustering.
* \author Christian Potthast
* \ingroup ML
*/
//template <typename PointT>
//class Kmeans : public PCLBase<PointT>
class PCL_EXPORTS Kmeans
{
/*
typedef PCLBase<PointT> BasePCLBase;
public:
typedef pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;
typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
*/
public:
typedef unsigned int PointId; // the id of this point
typedef unsigned int ClusterId; // the id of this cluster
//typedef std::vector<Coord> Point; // a point (a centroid)
typedef std::set<PointId> SetPoints; // set of points
typedef std::vector<float> Point;
// ClusterId -> (PointId, PointId, PointId, .... )
typedef std::vector<SetPoints> ClustersToPoints;
// PointId -> ClusterId
typedef std::vector<ClusterId> PointsToClusters;
// coll of centroids
typedef std::vector<Point> Centroids;
/** \brief Empty constructor. */
Kmeans (unsigned int num_points, unsigned int num_dimensions);
/** \brief This destructor destroys
*
*/
~Kmeans ();
/** \brief This method sets the k-means cluster size.
* \param[in] k number of clusters
*/
void
setClusterSize (unsigned int k) {num_clusters_ = k;};
/*
void
setClusterField (std::string field_name)
{
cluster_field_name_ = field_name;
};
*/
//void
//getClusterCentroids (PointT &out);
//void
//cluster (std::vector<PointIndices> &clusters);
void
kMeans ();
void
setInputData (std::vector<Point> &data)
{
if (num_points_ != data.size ())
std::cout << "Data vector not the same" << std::endl;
data_ = data;
}
void
addDataPoint (Point &data_point)
{
if (num_dimensions_ != data_point.size ())
std::cout << "Dimensions not the same" << std::endl;
data_.push_back (data_point);
}
// Initial partition points among available clusters
void initialClusterPoints();
void
computeCentroids();
// distance between two points
float distance(const Point& x, const Point& y)
{
float total = 0.0;
float diff;
Point::const_iterator cpx=x.begin();
Point::const_iterator cpy=y.begin();
Point::const_iterator cpx_end=x.end();
for(;cpx!=cpx_end;++cpx,++cpy){
diff = *cpx - *cpy;
total += (diff * diff);
}
return total; // no need to take sqrt, which is monotonic
}
Centroids get_centroids (){return centroids_;}
protected:
// Members derived from the base class
/*
using BasePCLBase::input_;
using BasePCLBase::indices_;
using BasePCLBase::initCompute;
using BasePCLBase::deinitCompute;
*/
unsigned int num_points_;
unsigned int num_dimensions_;
/** \brief The number of clusters. */
unsigned int num_clusters_;
/** \brief The cluster centroids. */
//std::vector
//std::string cluster_field_name_;
// one data point
// all data points
std::vector<Point> data_;
ClustersToPoints clusters_to_points_;
PointsToClusters points_to_clusters_;
Centroids centroids_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif
pcl::Kmeans::Centroids
std::vector< Point > Centroids
Definition: kmeans.h:92
pcl::Kmeans::PointId
unsigned int PointId
Definition: kmeans.h:77
pcl::Kmeans::addDataPoint
void addDataPoint(Point &data_point)
Definition: kmeans.h:136
pcl::Kmeans::ClusterId
unsigned int ClusterId
Definition: kmeans.h:78
pcl::Kmeans::ClustersToPoints
std::vector< SetPoints > ClustersToPoints
Definition: kmeans.h:88
pcl::Kmeans::distance
float distance(const Point &x, const Point &y)
Definition: kmeans.h:152
pcl::Kmeans::clusters_to_points_
ClustersToPoints clusters_to_points_
Definition: kmeans.h:197
pcl
Definition: convolution.h:45
pcl::Kmeans
K-means clustering.
Definition: kmeans.h:61
pcl::Kmeans::centroids_
Centroids centroids_
Definition: kmeans.h:199
pcl::Kmeans::setClusterSize
void setClusterSize(unsigned int k)
This method sets the k-means cluster size.
Definition: kmeans.h:107
pcl::Kmeans::points_to_clusters_
PointsToClusters points_to_clusters_
Definition: kmeans.h:198
pcl::Kmeans::num_points_
unsigned int num_points_
Definition: kmeans.h:180
pcl::Kmeans::get_centroids
Centroids get_centroids()
Definition: kmeans.h:168
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::Kmeans::num_dimensions_
unsigned int num_dimensions_
Definition: kmeans.h:181
pcl::Kmeans::data_
std::vector< Point > data_
The cluster centroids.
Definition: kmeans.h:195
pcl::Kmeans::Point
std::vector< float > Point
Definition: kmeans.h:85
pcl::Kmeans::num_clusters_
unsigned int num_clusters_
The number of clusters.
Definition: kmeans.h:185
pcl::Kmeans::PointsToClusters
std::vector< ClusterId > PointsToClusters
Definition: kmeans.h:90
pcl::Kmeans::SetPoints
std::set< PointId > SetPoints
Definition: kmeans.h:83
pcl::Kmeans::setInputData
void setInputData(std::vector< Point > &data)
Definition: kmeans.h:127