83 lines
2.7 KiB
C++
83 lines
2.7 KiB
C++
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/histogram.h"
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#include <algorithm>
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#include <numeric>
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#include <string>
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#include "absl/strings/str_cat.h"
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#include "absl/strings/str_format.h"
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#include "cartographer/common/port.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace common {
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void Histogram::Add(const float value) { values_.push_back(value); }
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std::string Histogram::ToString(const int buckets) const {
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CHECK_GE(buckets, 1);
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if (values_.empty()) {
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return "Count: 0";
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}
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const float min = *std::min_element(values_.begin(), values_.end());
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const float max = *std::max_element(values_.begin(), values_.end());
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const float mean =
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std::accumulate(values_.begin(), values_.end(), 0.f) / values_.size();
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std::string result = absl::StrCat("Count: ", values_.size(), " Min: ", min,
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" Max: ", max, " Mean: ", mean);
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if (min == max) {
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return result;
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}
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CHECK_LT(min, max);
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float lower_bound = min;
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int total_count = 0;
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for (int i = 0; i != buckets; ++i) {
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const float upper_bound =
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(i + 1 == buckets)
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? max
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: (max * (i + 1) / buckets + min * (buckets - i - 1) / buckets);
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int count = 0;
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for (const float value : values_) {
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if (lower_bound <= value &&
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(i + 1 == buckets ? value <= upper_bound : value < upper_bound)) {
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++count;
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}
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}
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total_count += count;
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absl::StrAppendFormat(&result, "\n[%f, %f%c", lower_bound, upper_bound,
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i + 1 == buckets ? ']' : ')');
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constexpr int kMaxBarChars = 20;
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const int bar =
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(count * kMaxBarChars + values_.size() / 2) / values_.size();
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result += "\t";
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for (int i = 0; i != kMaxBarChars; ++i) {
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result += (i < (kMaxBarChars - bar)) ? " " : "#";
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}
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absl::StrAppend(&result, "\tCount: ", count, " (",
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count * 1e2f / values_.size(), "%)",
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"\tTotal: ", total_count, " (",
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total_count * 1e2f / values_.size(), "%)");
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lower_bound = upper_bound;
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}
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return result;
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}
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} // namespace common
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} // namespace cartographer
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