Point Cloud Library (PCL) 1.15.0
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feature_histogram.h
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36
37#pragma once
38
39#include <vector>
40
41#include <pcl/pcl_macros.h>
42
43namespace pcl
44{
45 /** \brief Type for histograms for computing mean and variance of some floats.
46 *
47 * \author Timur Ibadov (ibadov.timur@gmail.com)
48 * \ingroup common
49 */
50 class PCL_EXPORTS FeatureHistogram
51 {
52 public:
53 /** \brief Public constructor.
54 * \param[in] number_of_bins number of bins in the histogram.
55 * \param[in] min lower threshold.
56 * \param[in] max upper threshold.
57 */
58 FeatureHistogram (const std::size_t number_of_bins, const float min,
59 const float max);
60
61 /** \brief Public destructor. */
63
64 /** \brief Get the lower threshold.
65 * \return lower threshold.
66 */
67 float
69
70 /** \brief Get the upper threshold.
71 * \return upper threshold.
72 */
73 float
75
76 /** \brief Get the number of elements was added to the histogram.
77 * \return number of elements in the histogram.
78 */
79 std::size_t
81
82 /** \brief Get number of bins in the histogram.
83 * \return number of bins in the histogram.
84 */
85 std::size_t
87
88 /** \brief Increase a bin, that corresponds the value.
89 * \param[in] value new value.
90 */
91 void
92 addValue (float value);
93
94 /** \brief Get value, corresponds to the greatest bin.
95 * \return mean value of the greatest bin.
96 */
97 float
99
100 /** \brief Get variance of the value.
101 * \return variance of the greatest bin.
102 */
103 float
104 getVariance (float mean);
105
106 protected:
107 /** \brief Vector, that contain the histogram. */
108 std::vector <unsigned> histogram_;
109
110 /** \brief Min threshold. */
112 /** \brief Max threshold. */
114 /** \brief "Width" of a bin. */
115 float step_;
116
117 /** \brief Number of values was added to the histogram. */
119
120 /** \brief Number of bins. */
121 std::size_t number_of_bins_;
122 };
123}
Type for histograms for computing mean and variance of some floats.
float threshold_max_
Max threshold.
float threshold_min_
Min threshold.
virtual ~FeatureHistogram()
Public destructor.
std::size_t number_of_elements_
Number of values was added to the histogram.
float getMeanValue()
Get value, corresponds to the greatest bin.
std::size_t getNumberOfElements() const
Get the number of elements was added to the histogram.
std::size_t number_of_bins_
Number of bins.
float getVariance(float mean)
Get variance of the value.
float getThresholdMin() const
Get the lower threshold.
float step_
"Width" of a bin.
void addValue(float value)
Increase a bin, that corresponds the value.
float getThresholdMax() const
Get the upper threshold.
std::size_t getNumberOfBins() const
Get number of bins in the histogram.
std::vector< unsigned > histogram_
Vector, that contain the histogram.
FeatureHistogram(const std::size_t number_of_bins, const float min, const float max)
Public constructor.
Defines all the PCL and non-PCL macros used.