00001 /* 00002 * Copyright (c) 2013, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: Julius Kammerl (jkammerl@willowgarage.com) 00030 */ 00031 00032 #include "openni2_camera/openni2_timer_filter.h" 00033 #include <algorithm> 00034 00035 00036 namespace openni2_wrapper 00037 { 00038 00039 OpenNI2TimerFilter::OpenNI2TimerFilter(std::size_t filter_len): 00040 filter_len_(filter_len) 00041 { 00042 } 00043 00044 OpenNI2TimerFilter::~OpenNI2TimerFilter() 00045 { 00046 } 00047 00048 void OpenNI2TimerFilter::addSample(double sample) 00049 { 00050 buffer_.push_back(sample); 00051 if (buffer_.size()>filter_len_) 00052 buffer_.pop_front(); 00053 } 00054 00055 double OpenNI2TimerFilter::getMedian() 00056 { 00057 if (buffer_.size()>0) 00058 { 00059 std::deque<double> sort_buffer = buffer_; 00060 00061 std::sort(sort_buffer.begin(), sort_buffer.end()); 00062 00063 return sort_buffer[sort_buffer.size()/2]; 00064 } else 00065 return 0.0; 00066 } 00067 00068 double OpenNI2TimerFilter::getMovingAvg() 00069 { 00070 if (buffer_.size() > 0) 00071 { 00072 double sum = 0; 00073 00074 std::deque<double>::const_iterator it = buffer_.begin(); 00075 std::deque<double>::const_iterator it_end = buffer_.end(); 00076 00077 while (it != it_end) 00078 { 00079 sum += *(it++); 00080 } 00081 00082 return sum / static_cast<double>(buffer_.size()); 00083 } else 00084 return 0.0; 00085 } 00086 00087 00088 void OpenNI2TimerFilter::clear() 00089 { 00090 buffer_.clear(); 00091 } 00092 00093 00094 } //namespace openni2_wrapper