Point Cloud Library (PCL) 1.13.0
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
48template <class FeatureType,
49 class DataSet,
50 class LabelType,
51 class ExampleIndex,
52 class NodeType>
55: tree_evaluator_()
56{}
57
58template <class FeatureType,
59 class DataSet,
60 class LabelType,
61 class ExampleIndex,
62 class NodeType>
65
66template <class FeatureType,
67 class DataSet,
68 class LabelType,
69 class ExampleIndex,
70 class NodeType>
71void
76 stats_estimator,
77 DataSet& data_set,
78 std::vector<ExampleIndex>& examples,
79 std::vector<LabelType>& label_data)
80{
81 const std::size_t num_of_examples = examples.size();
82 label_data.resize(num_of_examples, 0);
83
84 for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
85 tree_evaluator_.evaluateAndAdd(forest[forest_index],
86 feature_handler,
87 stats_estimator,
88 data_set,
89 examples,
90 label_data);
91 }
92
93 const float inv_num_of_trees = 1.0f / static_cast<float>(forest.size());
94 for (std::size_t label_index = 0; label_index < label_data.size(); ++label_index) {
95 label_data[label_index] *= inv_num_of_trees;
96 }
97}
98
99template <class FeatureType,
100 class DataSet,
101 class LabelType,
102 class ExampleIndex,
103 class NodeType>
104void
109 stats_estimator,
110 DataSet& data_set,
111 ExampleIndex example,
112 std::vector<NodeType>& leaves)
113{
114 leaves.resize(forest.size());
115 for (std::size_t forest_index = 0; forest_index < forest.size(); ++forest_index) {
116 NodeType leave;
117 tree_evaluator_.evaluate(forest[forest_index],
118 feature_handler,
119 stats_estimator,
120 data_set,
121 example,
122 leave);
123 leaves[forest_index] = leave;
124 }
125}
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.
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.