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

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