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