126 lines
4.8 KiB
C++
126 lines
4.8 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2010-2011, Willow Garage, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of Willow Garage, Inc. nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/common/common.h>
|
|
#include <pcl/ml/feature_handler.h>
|
|
#include <pcl/ml/ferns/fern.h>
|
|
#include <pcl/ml/stats_estimator.h>
|
|
|
|
#include <vector>
|
|
|
|
namespace pcl {
|
|
|
|
/** Utility class for evaluating a fern. */
|
|
template <class FeatureType,
|
|
class DataSet,
|
|
class LabelType,
|
|
class ExampleIndex,
|
|
class NodeType>
|
|
class FernEvaluator {
|
|
|
|
public:
|
|
/** Constructor. */
|
|
FernEvaluator();
|
|
|
|
/** Destructor. */
|
|
virtual ~FernEvaluator();
|
|
|
|
/** Evaluates the specified examples using the supplied tree.
|
|
*
|
|
* \param[in] fern the decision tree
|
|
* \param[in] feature_handler the feature handler used to train the tree
|
|
* \param[in] stats_estimator the statistics estimation instance used while training
|
|
* the tree
|
|
* \param[in] data_set the data set used for evaluation
|
|
* \param[in] examples the examples that have to be evaluated
|
|
* \param[out] label_data the destination for the resulting label data
|
|
*/
|
|
void
|
|
evaluate(
|
|
pcl::Fern<FeatureType, NodeType>& fern,
|
|
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 tree and adds the
|
|
* results to the supplied results array.
|
|
*
|
|
* \param[in] fern the decision tree
|
|
* \param[in] feature_handler the feature handler used to train the tree
|
|
* \param[in] stats_estimator the statistics estimation instance used while training
|
|
* the tree
|
|
* \param[in] data_set the data set used for evaluation
|
|
* \param[in] examples the examples that have to be evaluated
|
|
* \param[out] label_data the destination where the resulting label data is added to
|
|
*/
|
|
void
|
|
evaluateAndAdd(
|
|
pcl::Fern<FeatureType, NodeType>& fern,
|
|
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 tree.
|
|
*
|
|
* \param[in] fern the decision tree
|
|
* \param[in] feature_handler the feature handler used to train the tree
|
|
* \param[in] stats_estimator the statistics estimation instance used while training
|
|
* the tree
|
|
* \param[in] data_set the data set used for evaluation
|
|
* \param[in] examples the examples that have to be evaluated
|
|
* \param[out] nodes the leaf-nodes reached while evaluation
|
|
*/
|
|
void
|
|
getNodes(
|
|
pcl::Fern<FeatureType, NodeType>& fern,
|
|
pcl::FeatureHandler<FeatureType, DataSet, ExampleIndex>& feature_handler,
|
|
pcl::StatsEstimator<LabelType, NodeType, DataSet, ExampleIndex>& stats_estimator,
|
|
DataSet& data_set,
|
|
std::vector<ExampleIndex>& examples,
|
|
std::vector<NodeType*>& nodes);
|
|
};
|
|
|
|
} // namespace pcl
|
|
|
|
#include <pcl/ml/impl/ferns/fern_evaluator.hpp>
|