feature_histogram.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, Inc.
*
* All rights reserved.
*
* 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 copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef PCL_FEATURE_HISTOGRAM_H_
#define PCL_FEATURE_HISTOGRAM_H_
#include <vector>
#include <pcl/pcl_macros.h>
namespace pcl
{
/** \brief Type for histograms for computing mean and variance of some floats.
*
* \author Timur Ibadov (ibadov.timur@gmail.com)
* \ingroup common
*/
class PCL_EXPORTS FeatureHistogram
{
public:
/** \brief Public constructor.
* \param[in] number_of_bins number of bins in the histogram.
* \param[in] min lower threshold.
* \param[in] max upper threshold.
*/
FeatureHistogram (const size_t number_of_bins, const float min,
const float max);
/** \brief Public destructor. */
virtual ~FeatureHistogram ();
/** \brief Get the lower threshold.
* \return lower threshold.
*/
float
getThresholdMin () const;
/** \brief Get the upper threshold.
* \return upper threshold.
*/
float
getThresholdMax () const;
/** \brief Get the number of elements was added to the histogram.
* \return number of elements in the histogram.
*/
size_t
getNumberOfElements () const;
/** \brief Get number of bins in the histogram.
* \return number of bins in the histogram.
*/
size_t
getNumberOfBins () const;
/** \brief Increase a bin, that corresponds the value.
* \param[in] value new value.
*/
void
addValue (float value);
/** \brief Get value, corresponds to the greatest bin.
* \return mean value of the greatest bin.
*/
float
getMeanValue ();
/** \brief Get variance of the value.
* \return variance of the greatest bin.
*/
float
getVariance (float mean);
protected:
/** \brief Vector, that contain the histogram. */
std::vector <unsigned> histogram_;
/** \brief Min threshold. */
float threshold_min_;
/** \brief Max threshold. */
float threshold_max_;
/** \brief "Width" of a bin. */
float step_;
/** \brief Number of values was added to the histogram. */
size_t number_of_elements_;
/** \brief Number of bins. */
size_t number_of_bins_;
};
}
#endif // PCL_FEATURE_HISTOGRAM_H_
pcl::FeatureHistogram::number_of_bins_
size_t number_of_bins_
Number of bins.
Definition: feature_histogram.h:122
pcl::FeatureHistogram
Type for histograms for computing mean and variance of some floats.
Definition: feature_histogram.h:51
pcl
Definition: convolution.h:45
pcl::FeatureHistogram::step_
float step_
"Width" of a bin.
Definition: feature_histogram.h:116
pcl::FeatureHistogram::threshold_min_
float threshold_min_
Min threshold.
Definition: feature_histogram.h:112
pcl::FeatureHistogram::threshold_max_
float threshold_max_
Max threshold.
Definition: feature_histogram.h:114
pcl::FeatureHistogram::histogram_
std::vector< unsigned > histogram_
Vector, that contain the histogram.
Definition: feature_histogram.h:109
pcl::FeatureHistogram::number_of_elements_
size_t number_of_elements_
Number of values was added to the histogram.
Definition: feature_histogram.h:119