Point Cloud Library (PCL)  1.14.0-dev
fern.h
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37 
38 #pragma once
39 
40 #include <pcl/common/common.h>
41 
42 #include <istream>
43 #include <ostream>
44 
45 namespace pcl {
46 
47 /** Class representing a Fern. */
48 template <class FeatureType, class NodeType>
50 public:
51  /** Constructor. */
52  Fern() : num_of_decisions_(0), features_(0), thresholds_(0), nodes_(1) {}
53 
54  /** Initializes the fern.
55  *
56  * \param num_of_decisions the number of decisions taken to access the nodes
57  */
58  void
59  initialize(const std::size_t num_of_decisions)
60  {
61  num_of_decisions_ = num_of_decisions;
62  features_.resize(num_of_decisions_);
63  thresholds_.resize(num_of_decisions_, std::numeric_limits<float>::quiet_NaN());
64  nodes_.resize(0x1 << num_of_decisions_);
65  }
66 
67  /** Returns the number of nodes the Fern has. */
68  inline std::size_t
70  {
71  return 0x1U << num_of_decisions_;
72  }
73 
74  /** Returns the number of features the Fern has. */
75  inline std::size_t
77  {
78  return num_of_decisions_;
79  }
80 
81  /** Serializes the fern.
82  *
83  * \param[out] stream the destination for the serialization
84  */
85  void
86  serialize(::std::ostream& stream) const
87  {
88  // const int tmp_value = static_cast<int> (num_of_decisions_);
89  // stream.write (reinterpret_cast<char*> (&tmp_value), sizeof (tmp_value));
90  stream.write(reinterpret_cast<const char*>(&num_of_decisions_),
91  sizeof(num_of_decisions_));
92 
93  for (auto& feature : features_) {
94  feature.serialize(stream);
95  }
96 
97  for (const auto& threshold : thresholds_) {
98  stream.write(reinterpret_cast<const char*>(&threshold), sizeof(threshold));
99  }
100 
101  for (auto& node : nodes_) {
102  node.serialize(stream);
103  }
104  }
105 
106  /** Deserializes the fern.
107  *
108  * \param[in] stream the source for the deserialization
109  */
110  void
111  deserialize(::std::istream& stream)
112  {
113  stream.read(reinterpret_cast<char*>(&num_of_decisions_), sizeof(num_of_decisions_));
114 
115  features_.resize(num_of_decisions_);
116  thresholds_.resize(num_of_decisions_);
117  nodes_.resize(0x1 << num_of_decisions_);
118 
119  for (auto& feature : features_) {
120  feature.deserialize(stream);
121  }
122 
123  for (const auto& threshold : thresholds_) {
124  stream.read(reinterpret_cast<char*>(&(threshold)), sizeof(threshold));
125  }
126 
127  for (auto& node : nodes_) {
128  node.deserialize(stream);
129  }
130  }
131 
132  /** Access operator for nodes.
133  *
134  * \param node_index the index of the node to access
135  */
136  inline NodeType&
137  operator[](const std::size_t node_index)
138  {
139  return nodes_[node_index];
140  }
141 
142  /** Access operator for nodes.
143  *
144  * \param node_index the index of the node to access
145  */
146  inline const NodeType&
147  operator[](const std::size_t node_index) const
148  {
149  return nodes_[node_index];
150  }
151 
152  /** Access operator for features.
153  *
154  * \param feature_index the index of the feature to access
155  */
156  inline FeatureType&
157  accessFeature(const std::size_t feature_index)
158  {
159  return features_[feature_index];
160  }
161 
162  /** Access operator for features.
163  *
164  * \param feature_index the index of the feature to access
165  */
166  inline const FeatureType&
167  accessFeature(const std::size_t feature_index) const
168  {
169  return features_[feature_index];
170  }
171 
172  /** Access operator for thresholds.
173  *
174  * \param threshold_index the index of the threshold to access
175  */
176  inline float&
177  accessThreshold(const std::size_t threshold_index)
178  {
179  return thresholds_[threshold_index];
180  }
181 
182  /** Access operator for thresholds.
183  *
184  * \param threshold_index the index of the threshold to access
185  */
186  inline const float&
187  accessThreshold(const std::size_t threshold_index) const
188  {
189  return thresholds_[threshold_index];
190  }
191 
192 private:
193  /** The number of decisions. */
194  std::size_t num_of_decisions_;
195  /** The list of Features used to make the decisions. */
196  std::vector<FeatureType> features_;
197  /** The list of thresholds used to make the decisions. */
198  std::vector<float> thresholds_;
199  /** The list of Nodes accessed by the Fern. */
200  std::vector<NodeType> nodes_;
201 };
202 
203 } // namespace pcl
Class representing a Fern.
Definition: fern.h:49
const float & accessThreshold(const std::size_t threshold_index) const
Access operator for thresholds.
Definition: fern.h:187
std::size_t getNumOfNodes()
Returns the number of nodes the Fern has.
Definition: fern.h:69
NodeType & operator[](const std::size_t node_index)
Access operator for nodes.
Definition: fern.h:137
const NodeType & operator[](const std::size_t node_index) const
Access operator for nodes.
Definition: fern.h:147
void deserialize(::std::istream &stream)
Deserializes the fern.
Definition: fern.h:111
const FeatureType & accessFeature(const std::size_t feature_index) const
Access operator for features.
Definition: fern.h:167
std::size_t getNumOfFeatures()
Returns the number of features the Fern has.
Definition: fern.h:76
float & accessThreshold(const std::size_t threshold_index)
Access operator for thresholds.
Definition: fern.h:177
void serialize(::std::ostream &stream) const
Serializes the fern.
Definition: fern.h:86
void initialize(const std::size_t num_of_decisions)
Initializes the fern.
Definition: fern.h:59
Fern()
Constructor.
Definition: fern.h:52
FeatureType & accessFeature(const std::size_t feature_index)
Access operator for features.
Definition: fern.h:157
Define standard C methods and C++ classes that are common to all methods.
#define PCL_EXPORTS
Definition: pcl_macros.h:323