Histogram.cpp
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3 /*
4 
5 Copyright (c) 2010--2012,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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35 #include "PointMatcherPrivate.h"
36 
37 #include "Histogram.h"
38 
39 #include <iostream>
40 #include <fstream>
41 #include <iomanip>
42 #include <limits>
43 #include <algorithm>
44 #include <boost/format.hpp>
45 
46 namespace PointMatcherSupport
47 {
48  using namespace std;
49 
50  template<typename T>
51  Histogram<T>::Histogram(const size_t binCount, const std::string& name, const std::string&
52  filePrefix, const bool dumpStdErrOnExit):
53  binCount(binCount),
54  name(name),
55  filePrefix(filePrefix),
56  dumpStdErrOnExit(dumpStdErrOnExit)
57  {
58  }
59 
60  template<typename T>
61  Histogram<T>::~Histogram()
62  {
63  T meanV, varV, medianV, lowQt, highQt, minV, maxV;
64  uint64_t maxBinC;
65  if (!dumpStdErrOnExit && filePrefix.empty())
66  return;
67 
68  const vector<uint64_t> bins(computeStats(meanV, varV, medianV, lowQt, highQt, minV, maxV, maxBinC));
69 
70  if (!filePrefix.empty())
71  {
72  LOG_INFO_STREAM("writing to " << (filePrefix + name + "Stats.csv"));
73  std::ofstream ofs_stats((filePrefix + name + "Stats.csv").c_str());
74  dumpStatsHeader(ofs_stats);
75  ofs_stats << endl;
76  dumpStats(ofs_stats);
77 
78  LOG_INFO_STREAM("writing to " << (filePrefix + name + ".csv"));
79  std::ofstream ofs((filePrefix + name + ".csv").c_str());
80  for (size_t i = 0; i < this->size(); ++i)
81  ofs << ((*this)[i]) << "\n";
82  }
83 
84  if (dumpStdErrOnExit)
85  {
86  std::cerr.precision(4);
87  std::cerr.fill(' ');
88  std::cerr.flags(std::ios::left);
89  std::cerr << "Histogram " << name << ":\n";
90  std::cerr << " count: " << this->size() << ", mean: " << meanV << ", var: " << varV << ", median: " << medianV << ", min: " << minV << ", max: " << maxV << ", lowQt: " << lowQt << ", highQt: " << highQt << ", maxBinC: " << maxBinC << "\n";
91  if(this->size() > 1)
92  {
93  for (size_t i = 0; i < binCount; ++i)
94  {
95  const T v(minV + i * (maxV - minV) / T(binCount));
96  std::cerr << " " << std::setw(10) << v << " (" << std::setw(6) << bins[i] << ") : ";
97  //std::cerr << (bins[i] * 60) / maxBinC << " " ;
98  if (maxBinC > 0) {
99  for (size_t j = 0; j < (bins[i] * 60) / maxBinC; ++j)
100  std::cerr << "*";
101  }
102  std::cerr << "\n";
103  }
104  std::cerr << std::endl;
105  }
106  }
107  }
108 
109  template<typename T>
110  vector<uint64_t> Histogram<T>::computeStats(T& meanV, T& varV, T& medianV, T& lowQt, T& highQt, T& minV, T& maxV, uint64_t& maxBinC)
111  {
112  typedef typename std::vector<T>::iterator Iterator;
113  vector<uint64_t> bins(binCount, 0);
114 
115  //assert(this->size() > 0);
116  if(this->size() > 0)
117  {
118  // basic stats
119  meanV = 0;
120  minV = std::numeric_limits<T>::max();
121  maxV = std::numeric_limits<T>::min();
122  for (size_t i = 0; i < this->size(); ++i)
123  {
124  const T v((*this)[i]);
125  meanV += v;
126  minV = std::min<T>(minV, v);
127  maxV = std::max<T>(maxV, v);
128  }
129  meanV /= T(this->size());
130  // var and hist
131  std::fill(bins.begin(), bins.end(), uint64_t(0));
132  maxBinC = 0;
133  varV = 0;
134  if (minV == maxV)
135  {
136  medianV = lowQt = highQt = minV;
137  return bins;
138  }
139  for (size_t i = 0; i < this->size(); ++i)
140  {
141  const T v((*this)[i]);
142  varV += (v - meanV)*(v - meanV);
143  const size_t index((v - minV) * (binCount) / ((maxV - minV) * (1+std::numeric_limits<T>::epsilon()*10)));
144  //std::cerr << "adding value " << v << " to index " << index << std::endl;
145  ++bins[index];
146  maxBinC = std::max<uint64_t>(maxBinC, bins[index]);
147  }
148  varV /= T(this->size());
149  // median
150  std::vector<T> hystCpy((*this));
151  const Iterator lowQtIt(hystCpy.begin() + (hystCpy.size() / 4));
152  const Iterator medianIt(hystCpy.begin() + (hystCpy.size() / 2));
153  const Iterator highQtIt(hystCpy.begin() + (3*hystCpy.size() / 4));
154  std::nth_element(hystCpy.begin(), medianIt, hystCpy.end());
155  medianV = *medianIt;
156  std::nth_element(hystCpy.begin(), lowQtIt, hystCpy.end());
157  lowQt = *lowQtIt;
158  std::nth_element(hystCpy.begin(), highQtIt, hystCpy.end());
159  highQt = *highQtIt;
160  }
161  else
162  {
163  meanV = std::numeric_limits<T>::quiet_NaN();
164  varV = std::numeric_limits<T>::quiet_NaN();
165  medianV = std::numeric_limits<T>::quiet_NaN();
166  lowQt = std::numeric_limits<T>::quiet_NaN();
167  highQt = std::numeric_limits<T>::quiet_NaN();
168  minV = std::numeric_limits<T>::quiet_NaN();
169  maxV = std::numeric_limits<T>::quiet_NaN();
170  maxBinC = 0;
171  }
172  return bins;
173  }
174 
175  template<typename T>
176  void Histogram<T>::dumpStats(std::ostream& os)
177  {
178  T meanV, varV, medianV, lowQt, highQt, minV, maxV;
179  uint64_t maxBinC;
180  const vector<uint64_t> bins(computeStats(meanV, varV, medianV, lowQt, highQt, minV, maxV, maxBinC));
181  os << this->size() << ", " << meanV << ", " << varV << ", " << medianV << ", " << lowQt << ", " << highQt << ", " << minV << ", " << maxV << ", " << binCount << ", ";
182 
183  for (size_t i = 0; i < binCount; ++i)
184  os << bins[i] << ", ";
185  os << maxBinC;
186  }
187 
188  template<typename T>
189  void Histogram<T>::dumpStatsHeader(std::ostream& os) const
190  {
191  os << name + "_count, ";
192  os << name + "_mean, ";
193  os << name + "_var, ";
194  os << name + "_median, ";
195  os << name + "_low_quartile, ";
196  os << name + "_high_quartile, ";
197  os << name + "_min_value, ";
198  os << name + "_max_value, ";
199  os << name + "_bin_count, ";
200  for (size_t i = 0; i < binCount; ++i)
201  os << (boost::format("%1%_bin_%2%,") % name % i).str();
202  os << name + "_max_elements_per_bin ";
203  }
204 
205  template struct Histogram<unsigned>;
206  template struct Histogram<float>;
207  template struct Histogram<double>;
208 } // namespace PointMatcherSupport
PointMatcherSupport::Histogram::computeStats
std::vector< uint64_t > computeStats(T &meanV, T &varV, T &medianV, T &lowQt, T &highQt, T &minV, T &maxV, uint64_t &maxBinC)
This function compute statistics and writes them into the variables passed as reference.
Definition: Histogram.cpp:110
build_map.T
T
Definition: build_map.py:34
icp_customized.name
string name
Definition: icp_customized.py:45
LOG_INFO_STREAM
#define LOG_INFO_STREAM(args)
Definition: PointMatcherPrivate.h:58
PointMatcherPrivate.h
PointMatcherSupport::Histogram::~Histogram
virtual ~Histogram()
Definition: Histogram.cpp:61
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcherSupport::Histogram::dumpStatsHeader
void dumpStatsHeader(std::ostream &os) const
Definition: Histogram.cpp:189
Histogram.h
std
PointMatcherSupport::Histogram::Histogram
Histogram(const size_t binCount, const std::string &name, const std::string &filePrefix, const bool dumpStdErrOnExit)
Definition: Histogram.cpp:51
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
PointMatcherSupport::Histogram
Definition: Histogram.h:46
PointMatcherSupport::Histogram::dumpStats
void dumpStats(std::ostream &os)
Definition: Histogram.cpp:176

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autogenerated on Tue May 13 2025 02:22:45