Point Cloud Library (PCL)  1.12.0
decision_forest_evaluator.hpp
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37 
38 #pragma once
39 
40 #include <pcl/common/common.h>
41 #include <pcl/ml/dt/decision_forest.h>
42 #include <pcl/ml/dt/decision_forest_evaluator.h>
43 #include <pcl/ml/feature_handler.h>
44 #include <pcl/ml/stats_estimator.h>
45 
46 #include <vector>
47 
48 template <class FeatureType,
49  class DataSet,
50  class LabelType,
51  class ExampleIndex,
52  class NodeType>
55 : tree_evaluator_()
56 {}
57 
58 template <class FeatureType,
59  class DataSet,
60  class LabelType,
61  class ExampleIndex,
62  class NodeType>
65 {}
66 
67 template <class FeatureType,
68  class DataSet,
69  class LabelType,
70  class ExampleIndex,
71  class NodeType>
72 void
77  stats_estimator,
78  DataSet& data_set,
79  std::vector<ExampleIndex>& examples,
80  std::vector<LabelType>& label_data)
81 {
82  const std::size_t num_of_examples = examples.size();
83  label_data.resize(num_of_examples, 0);
84 
85  for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
86  tree_evaluator_.evaluateAndAdd(forest[forest_index],
87  feature_handler,
88  stats_estimator,
89  data_set,
90  examples,
91  label_data);
92  }
93 
94  const float inv_num_of_trees = 1.0f / static_cast<float>(forest.size());
95  for (std::size_t label_index = 0; label_index < label_data.size(); ++label_index) {
96  label_data[label_index] *= inv_num_of_trees;
97  }
98 }
99 
100 template <class FeatureType,
101  class DataSet,
102  class LabelType,
103  class ExampleIndex,
104  class NodeType>
105 void
110  stats_estimator,
111  DataSet& data_set,
112  ExampleIndex example,
113  std::vector<NodeType>& leaves)
114 {
115  leaves.resize(forest.size());
116  for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
117  NodeType leave;
118  tree_evaluator_.evaluate(forest[forest_index],
119  feature_handler,
120  stats_estimator,
121  data_set,
122  example,
123  leave);
124  leaves[forest_index] = leave;
125  }
126 }
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.
Class representing a decision forest.
Utility class interface which is used for creating and evaluating features.
Define standard C methods and C++ classes that are common to all methods.