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 () override=default
	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 ()=default
	Destructor. 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 ( )

overridedefault

Destructor.

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_set	The data set which is evaluated.
[in]	examples	The examples which define which parts of the data set are used for evaluation.
[in]	label_data	The label_data corresponding to the examples.
[out]	node	The destination node for the statistics.

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

Definition at line 471 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]	result	The result the branch index will be computed for.
[in]	flag	The flag corresponding to the specified result.
[in]	threshold	The threshold used to compute the branch index.
[out]	branch_index	The destination for the computed branch index.

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

Definition at line 460 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]	results	The results the branch indices will be computed for.
[in]	flags	The flags corresponding to the specified results.
[in]	threshold	The threshold used to compute the branch indices.
[out]	branch_indices	The destination for the computed branch indices.

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

Definition at line 440 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_set	The data set corresponding to the supplied result data.
[in]	examples	The examples used for extracting the supplied result data.
[in]	label_data	The label data corresponding to the specified examples.
[in]	results	The results computed using the specified examples.
[in]	flags	The flags corresponding to the results.
[in]	threshold	The threshold for which the information gain is computed.

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

Definition at line 319 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_set	The corresponding data set.
[in]	examples	A set of examples from the dataset.
[out]	covariance_matrix	The covariance matrix.
[out]	centroid	The mean of the data.

Definition at line 273 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_set	The corresponding data set.
[in]	examples	A set of examples from the dataset.
[out]	covariance_matrix	The covariance matrix.
[out]	centroid	The mean of the data.

Definition at line 229 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] stream The destination for the generated code.

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

Definition at line 514 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] stream The destination for the generated code.

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

Definition at line 523 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] node The node which label is returned.

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

Definition at line 218 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

Returns the number of branches the corresponding tree has.

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

Definition at line 210 of file rf_face_utils.h.

References pcl::BranchEstimator::getNumOfBranches().

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

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

pcl/recognition/face_detection/rf_face_utils.h

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

◆ PoseClassRegressionVarianceStatsEstimator()

◆ ~PoseClassRegressionVarianceStatsEstimator()

Member Function Documentation

◆ computeAndSetNodeStats()

◆ computeBranchIndex()

◆ computeBranchIndices()

◆ computeInformationGain()

◆ computeMeanAndCovarianceAngles()

◆ computeMeanAndCovarianceOffset()

◆ generateCodeForBranchIndexComputation()

◆ generateCodeForOutput()

◆ getLabelOfNode()

◆ getNumOfBranches()

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