cartographer源码分析(6)-common-histogram.h

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源码可在https://github.com/learnmoreonce/SLAM 下载

 文件:common/histogram.h#ifndef CARTOGRAPHER_COMMON_HISTOGRAM_H_#define CARTOGRAPHER_COMMON_HISTOGRAM_H_#include <map>#include <string>#include <vector>#include "cartographer/common/port.h"namespace cartographer {namespace common {/*Histogram直方图类,提供2个操作:1，Add()添加元素2，ToString(buckets )以字符串的形式输出buckets个直方图信息,bin大小是篮子个数.Histogram只有一个数据成员，用vector<float>表示*/class Histogram { public:  void Add(float value);       //添加value,可乱序  string ToString(int buckets) const;//分为几块 private:  std::vector<float> values_;};}  // namespace common}  // namespace cartographer#endif  // CARTOGRAPHER_COMMON_HISTOGRAM_H_/*测试：若bin为2:[2,1,2,4,5,5]:Count: 6  Min: 1.000000  Max: 5.000000  Mean: 3.166667[1.000000, 3.000000)              ##########    Count: 3 (50.000000%)   Total: 3 (50.000000%)[3.000000, 5.000000]              ##########    Count: 3 (50.000000%)   Total: 6 (100.000000%)若bin为3:[2,1,2,4,5,5,6,7,8]:Count: 10  Min: 1.000000  Max: 8.000000  Mean: 4.500000[1.000000, 3.333333)                  ######    Count: 3 (30.000000%)   Total: 3 (30.000000%)[3.333333, 5.666667)                ########    Count: 4 (40.000000%)   Total: 7 (70.000000%)[5.666667, 8.000000]                  ######    Count: 3 (30.000000%)   Total: 10 (100.000000%)*/

测试代码histogram_le_test:#include "cartographer/common/math.h"#include "cartographer/common/histogram.h"#include "gtest/gtest.h"namespace cartographer {namespace common {namespace {TEST(Hist, toString) { Histogram hist;   hist.Add(2);   hist.Add(1);   hist.Add(2);   hist.Add(4);   hist.Add(5);   hist.Add(5);   hist.Add(5);   hist.Add(6);   hist.Add(7);   hist.Add(8);   std::cout<<hist.ToString(3)<<std::endl;}输出信息:Count: 10  Min: 1.000000  Max: 8.000000  Mean: 4.500000[1.000000, 3.333333)                  ######    Count: 3 (30.000000%)   Total: 3 (30.000000%)[3.333333, 5.666667)                ########    Count: 4 (40.000000%)   Total: 7 (70.000000%)[5.666667, 8.000000]                  ######    Count: 3 (30.000000%)   Total: 10 (100.000000%)

本文发于：
* http://www.jianshu.com/u/9e38d2febec1
* https://zhuanlan.zhihu.com/learnmoreonce
* http://blog.csdn.net/learnmoreonce
* slam源码分析微信公众号:slamcode

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