Point Cloud Library (PCL)  1.9.1-dev
decision_forest_evaluator.hpp
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37 
38 #pragma once
39 
40 #include <pcl/common/common.h>
41 
42 #include <pcl/ml/dt/decision_forest.h>
43 #include <pcl/ml/dt/decision_forest_evaluator.h>
44 #include <pcl/ml/feature_handler.h>
45 #include <pcl/ml/stats_estimator.h>
46 
47 #include <vector>
48 
49 template <class FeatureType,
50  class DataSet,
51  class LabelType,
52  class ExampleIndex,
53  class NodeType>
56 : tree_evaluator_()
57 {}
58 
59 template <class FeatureType,
60  class DataSet,
61  class LabelType,
62  class ExampleIndex,
63  class NodeType>
66 {}
67 
68 template <class FeatureType,
69  class DataSet,
70  class LabelType,
71  class ExampleIndex,
72  class NodeType>
73 void
78  stats_estimator,
79  DataSet& data_set,
80  std::vector<ExampleIndex>& examples,
81  std::vector<LabelType>& label_data)
82 {
83  const std::size_t num_of_examples = examples.size();
84  label_data.resize(num_of_examples, 0);
85 
86  for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
87  tree_evaluator_.evaluateAndAdd(forest[forest_index],
88  feature_handler,
89  stats_estimator,
90  data_set,
91  examples,
92  label_data);
93  }
94 
95  const float inv_num_of_trees = 1.0f / static_cast<float>(forest.size());
96  for (std::size_t label_index = 0; label_index < label_data.size(); ++label_index) {
97  label_data[label_index] *= inv_num_of_trees;
98  }
99 }
100 
101 template <class FeatureType,
102  class DataSet,
103  class LabelType,
104  class ExampleIndex,
105  class NodeType>
106 void
111  stats_estimator,
112  DataSet& data_set,
113  ExampleIndex example,
114  std::vector<NodeType>& leaves)
115 {
116  leaves.resize(forest.size());
117  for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
118  NodeType leave;
119  tree_evaluator_.evaluate(forest[forest_index],
120  feature_handler,
121  stats_estimator,
122  data_set,
123  example,
124  leave);
125  leaves[forest_index] = leave;
126  }
127 }
Class representing a decision forest.
Define standard C methods and C++ classes that are common to all methods.
virtual ~DecisionForestEvaluator()
Destructor.
void evaluate(pcl::DecisionForest< NodeType > &DecisionForestEvaluator, pcl::FeatureHandler< FeatureType, DataSet, ExampleIndex > &feature_handler, pcl::StatsEstimator< LabelType, NodeType, DataSet, ExampleIndex > &stats_estimator, DataSet &data_set, std::vector< ExampleIndex > &examples, std::vector< LabelType > &label_data)
Evaluates the specified examples using the supplied forest.
Utility class interface which is used for creating and evaluating features.