Histogram2D.h

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/*
 * Copyright (c) 2013, Fraunhofer FKIE
 *
 * Authors: Bastian Gaspers
 *
 * 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 the Fraunhofer FKIE nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * This file is part of the StructureColoring ROS package.
 *
 * The StructureColoring ROS package is free software:
 * you can redistribute it and/or modify it under the terms of the
 * GNU Lesser General Public License as published by the Free
 * Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * The StructureColoring ROS package is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with The StructureColoring ROS package.
 * If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef HISTOGRAM2D_H_
#define HISTOGRAM2D_H_

#include <functional>
#include <algorithm>
#include <vector>
#include <utility>
#include <structureColoring/histograms/OutOfRangeException.h>

template<class Key, class Value, class BinType = Value>
class Histogram2D {
public:
        typedef OutOfRangeException OutOfRange;
        typedef std::pair<Key, Key> Keys;

        Histogram2D(const Key& minX, const Key& maxX, const Key& minY, const Key& maxY, const Key& binSize) :
                mMinX(minX), mMaxX(maxX), mMinY(minY), mMaxY(maxY), mBinSize(binSize),
                mXSpan(floor( (mMaxX - mMinX) / mBinSize ) + 1), mYSpan(floor( (mMaxY - mMinY) / mBinSize ) + 1),
                mBins(mXSpan * mYSpan){
        }

        Histogram2D(const Keys& min, const Keys& max, const Key& binSize) :
                mMinX(min.first), mMaxX(max.first), mMinY(min.second), mMaxY(max.second), mBinSize(binSize),
                mXSpan(floor( (mMaxX - mMinX) / mBinSize ) + 1), mYSpan(floor( (mMaxY - mMinY) / mBinSize ) + 1),
                mBins(mXSpan * mYSpan){
        }

        BinType& bin(const Key& x, const Key& y) { return mBins[getIdx(x, y)]; }
        const BinType& bin(const Key& x, const Key& y) const { return mBins[getIdx(x, y)]; }
        BinType& bin(const Keys& k) { return mBins[getIdx(k.first, k.second)]; }
        const BinType& bin(const Keys& k) const { return mBins[getIdx(k.first, k.second)]; }

        void addToBin(const Key& x, const Key& y, const Value& v) { mBins[getIdx(x, y)] += v; }
        void addToBin(const Keys& k, const Value& v) { mBins[getIdx(k.first, k.second)] += v; }

        void getMaxBin(BinType& bin, Key& x, Key& y) const {
                Keys k;
                getMaxBin(bin, k, std::less<BinType>());
                x = k.first;
                y = k.second;
//              std::cout << "Histogram2D.getMaxBin(bin, x, y)" << std::endl;
        }
        void getMaxBin(BinType& bin, Keys& k) const { getMaxBin(bin, k, std::less<BinType>()); std::cout << "Histogram2D.getMaxBin(bin, k)" << std::endl;}
        template<class Comp>
        void getMaxBin(BinType& bin, Key& x, Key& y, Comp comp) const {
                Keys k = std::make_pair(x, y);
                getMaxBin(bin, k, comp);
                x = k.first;
                y = k.second;
//              std::cout << "Histogram2D.getMaxBin(bin, x, y, comp)" << std::endl;
        }
        template<class Comp>
        void getMaxBin(BinType& bin, Keys& k, Comp comp) const;
protected:
        typedef std::vector<BinType> Bins;

        size_t getIdx(const Key& x, const Key& y) const {
                size_t xIdx, yIdx;
                if ((x < mMinX) || (x > mMaxX) || (y < mMinY) || (y < mMaxY))
                        throw OutOfRange("key is out of range");
                xIdx = (x - mMinX) / mBinSize;
                yIdx = (y - mMinY) / mBinSize;
                return xIdx + mXSpan * yIdx;
//              if (x == mMaxX) xIdx = mXSpan;
//              else xIdx = (x - mMinX) / mBinSize;
//              if (y == mMaxY) yIdx = mYSpan;
//              else yIdx = (y - mMinY) / mBinSize;
//              return xIdx + mXSpan * yIdx;
        }

        size_t getIdx(const size_t& xIdx, const size_t& yIdx) const {
                if ((xIdx > mXSpan) || (yIdx > mYSpan)){
                        throw OutOfRange("key is out of range");
                }
                return xIdx + mXSpan * yIdx;
        }

        Keys getKeys(const size_t& idx) const {

                size_t yIdx = floor( ((float)idx) / ((float)mXSpan) );
                size_t xIdx = idx - mXSpan * yIdx;

                Key x( mMinX + ((float)xIdx) * mBinSize );
                Key y( mMinY + ((float)yIdx) * mBinSize );

                return std::make_pair(x, y);
        }

        Key mMinX, mMaxX, mMinY, mMaxY, mBinSize;
        unsigned int mXSpan, mYSpan;
        Bins mBins;
};

template<class Key, class Value, class BinType>
template<class Comp>
void Histogram2D<Key, Value, BinType>::getMaxBin(BinType& bin, Keys& k, Comp comp) const{
        typename Bins::const_iterator it = std::max_element(mBins.begin(), mBins.end(), comp);
        size_t idx = it - mBins.begin();
//      std::cout << "index of max (2D Histogram): " << idx << std::endl;
        k = getKeys(idx);
//      std::cout << "keys of max (2D Histogram): (" << k.first << ", " << k.second << ")" << std::endl;
        bin = *it;
//      std::cout << "Histogram2D.getMaxBin(bin, k, comp)" << std::endl;
}


#endif /* HISTOGRAM2D_H_ */