Point Cloud Library (PCL)  1.9.1-dev
decision_forest_evaluator.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
37 
38 #ifndef PCL_ML_DT_DECISION_FOREST_EVALUATOR_HPP_
39 #define PCL_ML_DT_DECISION_FOREST_EVALUATOR_HPP_
40 
41 #include <pcl/common/common.h>
42 
43 #include <pcl/ml/dt/decision_forest_evaluator.h>
44 #include <pcl/ml/dt/decision_forest.h>
45 #include <pcl/ml/feature_handler.h>
46 #include <pcl/ml/stats_estimator.h>
47 
48 #include <vector>
49 
50 
51 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
52 template <class FeatureType, class DataSet, class LabelType, class ExampleIndex, class NodeType>
54  : tree_evaluator_ ()
55 {
56 }
57 
58 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59 template <class FeatureType, class DataSet, class LabelType, class ExampleIndex, class NodeType>
61 {
62 }
63 
64 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
65 template <class FeatureType, class DataSet, class LabelType, class ExampleIndex, class NodeType>
66 void
71  DataSet & data_set,
72  std::vector<ExampleIndex> & examples,
73  std::vector<LabelType> & label_data)
74 {
75  const size_t num_of_examples = examples.size ();
76  label_data.resize (num_of_examples, 0);
77 
78  for (size_t forest_index = 0; forest_index < forest.size (); ++forest_index)
79  {
80  tree_evaluator_.evaluateAndAdd (forest[forest_index], feature_handler, stats_estimator, data_set, examples, label_data);
81  }
82 
83  const float inv_num_of_trees = 1.0f / static_cast<float> (forest.size ());
84  for (size_t label_index = 0; label_index < label_data.size (); ++label_index)
85  {
86  label_data[label_index] *= inv_num_of_trees;
87  }
88 }
89 
90 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
91 template<class FeatureType, class DataSet, class LabelType, class ExampleIndex, class NodeType>
96  DataSet & data_set,
97  ExampleIndex example,
98  std::vector<NodeType> & leaves)
99 {
100  leaves.resize (forest.size ());
101  for (size_t forest_index = 0; forest_index < forest.size (); ++forest_index)
102  {
103  NodeType leave;
104  tree_evaluator_.evaluate (forest[forest_index], feature_handler, stats_estimator, data_set, example, leave);
105  leaves[forest_index] = leave;
106  }
107 }
108 
109 #endif
Class representing a decision forest.
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.