Point Cloud Library (PCL)  1.12.1-dev
branch_estimator.h
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37 
38 #pragma once
39 
40 #include <pcl/common/common.h>
41 #include <pcl/common/utils.h> // pcl::utils::ignore
42 #include <pcl/ml/stats_estimator.h>
43 
44 #include <istream>
45 #include <ostream>
46 
47 namespace pcl {
48 
49 /** Interface for branch estimators. */
51 public:
52  /** Destructor. */
53  virtual ~BranchEstimator() = default;
54 
55  /** Returns the number of branches the corresponding tree has. */
56  virtual std::size_t
57  getNumOfBranches() const = 0;
58 
59  /** Computes the branch index for the specified result.
60  *
61  * \param[in] result the result the branch index will be computed for
62  * \param[in] flag the flag corresponding to the specified result
63  * \param[in] threshold the threshold used to compute the branch index
64  * \param[out] branch_index the destination for the computed branch index
65  */
66  virtual void
67  computeBranchIndex(const float result,
68  const unsigned char flag,
69  const float threshold,
70  unsigned char& branch_index) const = 0;
71 };
72 
73 /** Branch estimator for binary trees where the branch is computed only from the
74  * threshold. */
76 public:
77  /** Constructor. */
79  /** Destructor. */
80  inline ~BinaryTreeThresholdBasedBranchEstimator() override = default;
81 
82  /** Returns the number of branches the corresponding tree has. */
83  inline std::size_t
84  getNumOfBranches() const override
85  {
86  return 2;
87  }
88 
89  /** Computes the branch index for the specified result.
90  *
91  * \param[in] result the result the branch index will be computed for
92  * \param[in] flag the flag corresponding to the specified result
93  * \param[in] threshold the threshold used to compute the branch index
94  * \param[out] branch_index the destination for the computed branch index
95  */
96  inline void
97  computeBranchIndex(const float result,
98  const unsigned char flag,
99  const float threshold,
100  unsigned char& branch_index) const override
101  {
102  pcl::utils::ignore(flag);
103  branch_index = (result > threshold) ? 1 : 0;
104  }
105 };
106 
107 /** Branch estimator for ternary trees where one branch is used for missing data
108  * (indicated by flag != 0). */
110 public:
111  /** Constructor. */
113  /** Destructor. */
114  inline ~TernaryTreeMissingDataBranchEstimator() override = default;
115 
116  /** \brief Returns the number of branches the corresponding tree has. */
117  inline std::size_t
118  getNumOfBranches() const override
119  {
120  return 3;
121  }
122 
123  /** Computes the branch index for the specified result.
124  *
125  * \param[in] result the result the branch index will be computed for
126  * \param[in] flag the flag corresponding to the specified result
127  * \param[in] threshold the threshold used to compute the branch index
128  * \param[out] branch_index the destination for the computed branch index
129  */
130  inline void
131  computeBranchIndex(const float result,
132  const unsigned char flag,
133  const float threshold,
134  unsigned char& branch_index) const override
135  {
136  if (flag == 0)
137  branch_index = (result > threshold) ? 1 : 0;
138  else
139  branch_index = 2;
140  }
141 };
142 
143 } // namespace pcl
Branch estimator for binary trees where the branch is computed only from the threshold.
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.
std::size_t getNumOfBranches() const override
Returns the number of branches the corresponding tree has.
BinaryTreeThresholdBasedBranchEstimator()=default
Constructor.
~BinaryTreeThresholdBasedBranchEstimator() override=default
Destructor.
Interface for branch estimators.
virtual std::size_t getNumOfBranches() const =0
Returns the number of branches the corresponding tree has.
virtual void computeBranchIndex(const float result, const unsigned char flag, const float threshold, unsigned char &branch_index) const =0
Computes the branch index for the specified result.
virtual ~BranchEstimator()=default
Destructor.
Branch estimator for ternary trees where one branch is used for missing data (indicated by flag !...
std::size_t getNumOfBranches() const override
Returns the number of branches the corresponding tree has.
TernaryTreeMissingDataBranchEstimator()=default
Constructor.
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.
~TernaryTreeMissingDataBranchEstimator() override=default
Destructor.
Define standard C methods and C++ classes that are common to all methods.
void ignore(const T &...)
Utility function to eliminate unused variable warnings.
Definition: utils.h:62
#define PCL_EXPORTS
Definition: pcl_macros.h:323