Point Cloud Library (PCL) 1.12.0
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pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex > Class Template Reference

Statistics estimator for regression trees which optimizes information gain and pose parameters error. More...

#include <pcl/recognition/face_detection/rf_face_utils.h>

+ Inheritance diagram for pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >:
+ Collaboration diagram for pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >:

Public Member Functions

 PoseClassRegressionVarianceStatsEstimator (BranchEstimator *branch_estimator)
 Constructor. More...
 
 ~PoseClassRegressionVarianceStatsEstimator ()
 Destructor. More...
 
std::size_t getNumOfBranches () const override
 Returns the number of branches the corresponding tree has. More...
 
LabelDataType getLabelOfNode (NodeType &node) const override
 Returns the label of the specified node. More...
 
unsigned int computeMeanAndCovarianceOffset (DataSet &data_set, std::vector< ExampleIndex > &examples, Eigen::Matrix3d &covariance_matrix, Eigen::Vector3d &centroid) const
 Computes the covariance matrix for translation offsets. More...
 
unsigned int computeMeanAndCovarianceAngles (DataSet &data_set, std::vector< ExampleIndex > &examples, Eigen::Matrix3d &covariance_matrix, Eigen::Vector3d &centroid) const
 Computes the covariance matrix for rotation values. More...
 
float computeInformationGain (DataSet &data_set, std::vector< ExampleIndex > &examples, std::vector< LabelDataType > &label_data, std::vector< float > &results, std::vector< unsigned char > &flags, const float threshold) const override
 Computes the information gain obtained by the specified threshold. More...
 
void computeBranchIndices (std::vector< float > &results, std::vector< unsigned char > &flags, const float threshold, std::vector< unsigned char > &branch_indices) const override
 Computes the branch indices for all supplied results. More...
 
void computeBranchIndex (const float result, const unsigned char flag, const float threshold, unsigned char &branch_index) const override
 Computes the branch index for the specified result. More...
 
void computeAndSetNodeStats (DataSet &data_set, std::vector< ExampleIndex > &examples, std::vector< LabelDataType > &label_data, NodeType &node) const override
 Computes and sets the statistics for a node. More...
 
void generateCodeForBranchIndexComputation (NodeType &, std::ostream &stream) const override
 Generates code for branch index computation. More...
 
void generateCodeForOutput (NodeType &, std::ostream &stream) const override
 Generates code for label output. More...
 
- Public Member Functions inherited from pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >
virtual ~StatsEstimator ()
 Destructor. More...
 
virtual std::size_t getNumOfBranches () const =0
 Returns the number of brances a node can have (e.g. More...
 
virtual void computeAndSetNodeStats (DataSet &data_set, std::vector< ExampleIndex > &examples, std::vector< LabelDataType > &label_data, NodeType &node) const =0
 Computes and sets the statistics for a node. More...
 
virtual LabelDataType getLabelOfNode (NodeType &node) const =0
 Returns the label of the specified node. More...
 
virtual float computeInformationGain (DataSet &data_set, std::vector< ExampleIndex > &examples, std::vector< LabelDataType > &label_data, std::vector< float > &results, std::vector< unsigned char > &flags, const float threshold) const =0
 Computes the information gain obtained by the specified threshold on the supplied feature evaluation results. More...
 
virtual void computeBranchIndices (std::vector< float > &results, std::vector< unsigned char > &flags, const float threshold, std::vector< unsigned char > &branch_indices) const =0
 Computes the branch indices obtained by the specified threshold on the supplied feature evaluation results. More...
 
virtual void computeBranchIndex (const float result, const unsigned char flag, const float threshold, unsigned char &branch_index) const =0
 Computes the branch indices obtained by the specified threshold on the supplied feature evaluation results. More...
 
virtual void generateCodeForBranchIndexComputation (NodeType &node, std::ostream &stream) const =0
 Generates code for computing the branch indices for the specified node and writes it to the specified stream. More...
 
virtual void generateCodeForOutput (NodeType &node, std::ostream &stream) const =0
 Generates code for computing the output for the specified node and writes it to the specified stream. More...
 

Detailed Description

template<class LabelDataType, class NodeType, class DataSet, class ExampleIndex>
class pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >

Statistics estimator for regression trees which optimizes information gain and pose parameters error.

Definition at line 196 of file rf_face_utils.h.

Constructor & Destructor Documentation

◆ PoseClassRegressionVarianceStatsEstimator()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::PoseClassRegressionVarianceStatsEstimator ( BranchEstimator branch_estimator)
inline

Constructor.

Definition at line 201 of file rf_face_utils.h.

◆ ~PoseClassRegressionVarianceStatsEstimator()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::~PoseClassRegressionVarianceStatsEstimator ( )
inline

Destructor.

Definition at line 207 of file rf_face_utils.h.

Member Function Documentation

◆ computeAndSetNodeStats()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
void pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeAndSetNodeStats ( DataSet &  data_set,
std::vector< ExampleIndex > &  examples,
std::vector< LabelDataType > &  label_data,
NodeType &  node 
) const
inlineoverridevirtual

Computes and sets the statistics for a node.

Parameters
[in]data_setThe data set which is evaluated.
[in]examplesThe examples which define which parts of the data set are used for evaluation.
[in]label_dataThe label_data corresponding to the examples.
[out]nodeThe destination node for the statistics.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 475 of file rf_face_utils.h.

References pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceAngles(), and pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceOffset().

◆ computeBranchIndex()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
void pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeBranchIndex ( const float  result,
const unsigned char  flag,
const float  threshold,
unsigned char &  branch_index 
) const
inlineoverridevirtual

Computes the branch index for the specified result.

Parameters
[in]resultThe result the branch index will be computed for.
[in]flagThe flag corresponding to the specified result.
[in]thresholdThe threshold used to compute the branch index.
[out]branch_indexThe destination for the computed branch index.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 464 of file rf_face_utils.h.

References pcl::BranchEstimator::computeBranchIndex().

Referenced by pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeBranchIndices(), and pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeInformationGain().

◆ computeBranchIndices()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
void pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeBranchIndices ( std::vector< float > &  results,
std::vector< unsigned char > &  flags,
const float  threshold,
std::vector< unsigned char > &  branch_indices 
) const
inlineoverridevirtual

Computes the branch indices for all supplied results.

Parameters
[in]resultsThe results the branch indices will be computed for.
[in]flagsThe flags corresponding to the specified results.
[in]thresholdThe threshold used to compute the branch indices.
[out]branch_indicesThe destination for the computed branch indices.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 444 of file rf_face_utils.h.

References pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeBranchIndex().

◆ computeInformationGain()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
float pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeInformationGain ( DataSet &  data_set,
std::vector< ExampleIndex > &  examples,
std::vector< LabelDataType > &  label_data,
std::vector< float > &  results,
std::vector< unsigned char > &  flags,
const float  threshold 
) const
inlineoverridevirtual

Computes the information gain obtained by the specified threshold.

Parameters
[in]data_setThe data set corresponding to the supplied result data.
[in]examplesThe examples used for extracting the supplied result data.
[in]label_dataThe label data corresponding to the specified examples.
[in]resultsThe results computed using the specified examples.
[in]flagsThe flags corresponding to the results.
[in]thresholdThe threshold for which the information gain is computed.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 321 of file rf_face_utils.h.

References pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeBranchIndex(), pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceAngles(), pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceOffset(), pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::getNumOfBranches(), and M_PI.

◆ computeMeanAndCovarianceAngles()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
unsigned int pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceAngles ( DataSet &  data_set,
std::vector< ExampleIndex > &  examples,
Eigen::Matrix3d &  covariance_matrix,
Eigen::Vector3d &  centroid 
) const
inline

Computes the covariance matrix for rotation values.

Parameters
[in]data_setThe corresponding data set.
[in]examplesA set of examples from the dataset.
[out]covariance_matrixThe covariance matrix.
[out]centroidThe mean of the data.

Definition at line 275 of file rf_face_utils.h.

References pcl::face_detection::TrainingExample::rot_.

Referenced by pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeAndSetNodeStats(), and pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeInformationGain().

◆ computeMeanAndCovarianceOffset()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
unsigned int pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeMeanAndCovarianceOffset ( DataSet &  data_set,
std::vector< ExampleIndex > &  examples,
Eigen::Matrix3d &  covariance_matrix,
Eigen::Vector3d &  centroid 
) const
inline

Computes the covariance matrix for translation offsets.

Parameters
[in]data_setThe corresponding data set.
[in]examplesA set of examples from the dataset.
[out]covariance_matrixThe covariance matrix.
[out]centroidThe mean of the data.

Definition at line 231 of file rf_face_utils.h.

References pcl::face_detection::TrainingExample::trans_.

Referenced by pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeAndSetNodeStats(), and pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::computeInformationGain().

◆ generateCodeForBranchIndexComputation()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
void pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::generateCodeForBranchIndexComputation ( NodeType &  ,
std::ostream &  stream 
) const
inlineoverridevirtual

Generates code for branch index computation.

Parameters
[out]streamThe destination for the generated code.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 518 of file rf_face_utils.h.

◆ generateCodeForOutput()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
void pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::generateCodeForOutput ( NodeType &  ,
std::ostream &  stream 
) const
inlineoverridevirtual

Generates code for label output.

Parameters
[out]streamThe destination for the generated code.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 527 of file rf_face_utils.h.

◆ getLabelOfNode()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
LabelDataType pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::getLabelOfNode ( NodeType &  node) const
inlineoverridevirtual

Returns the label of the specified node.

Parameters
[in]nodeThe node which label is returned.

Implements pcl::StatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >.

Definition at line 220 of file rf_face_utils.h.

◆ getNumOfBranches()

template<class LabelDataType , class NodeType , class DataSet , class ExampleIndex >
std::size_t pcl::face_detection::PoseClassRegressionVarianceStatsEstimator< LabelDataType, NodeType, DataSet, ExampleIndex >::getNumOfBranches ( ) const
inlineoverridevirtual

The documentation for this class was generated from the following file: