124 lines
3.9 KiB
C++
124 lines
3.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <vector>
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#include <pcl/pcl_macros.h>
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namespace pcl
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{
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/** \brief Type for histograms for computing mean and variance of some floats.
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*
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* \author Timur Ibadov (ibadov.timur@gmail.com)
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* \ingroup common
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*/
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class PCL_EXPORTS FeatureHistogram
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{
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public:
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/** \brief Public constructor.
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* \param[in] number_of_bins number of bins in the histogram.
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* \param[in] min lower threshold.
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* \param[in] max upper threshold.
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*/
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FeatureHistogram (const std::size_t number_of_bins, const float min,
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const float max);
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/** \brief Public destructor. */
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virtual ~FeatureHistogram ();
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/** \brief Get the lower threshold.
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* \return lower threshold.
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*/
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float
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getThresholdMin () const;
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/** \brief Get the upper threshold.
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* \return upper threshold.
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*/
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float
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getThresholdMax () const;
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/** \brief Get the number of elements was added to the histogram.
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* \return number of elements in the histogram.
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*/
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std::size_t
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getNumberOfElements () const;
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/** \brief Get number of bins in the histogram.
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* \return number of bins in the histogram.
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*/
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std::size_t
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getNumberOfBins () const;
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/** \brief Increase a bin, that corresponds the value.
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* \param[in] value new value.
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*/
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void
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addValue (float value);
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/** \brief Get value, corresponds to the greatest bin.
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* \return mean value of the greatest bin.
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*/
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float
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getMeanValue ();
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/** \brief Get variance of the value.
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* \return variance of the greatest bin.
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*/
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float
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getVariance (float mean);
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protected:
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/** \brief Vector, that contain the histogram. */
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std::vector <unsigned> histogram_;
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/** \brief Min threshold. */
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float threshold_min_;
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/** \brief Max threshold. */
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float threshold_max_;
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/** \brief "Width" of a bin. */
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float step_;
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/** \brief Number of values was added to the histogram. */
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std::size_t number_of_elements_;
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/** \brief Number of bins. */
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std::size_t number_of_bins_;
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};
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}
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