vpStatisticalTestAbstract.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */

 
#include <visp3/core/vpStatisticalTestAbstract.h>
#include <visp3/core/vpException.h>
 
BEGIN_VISP_NAMESPACE
std::string vpStatisticalTestAbstract::vpMeanDriftTypeToString(const vpStatisticalTestAbstract::vpMeanDriftType &type)
{
  std::string name;
  switch (type) {
  case MEAN_DRIFT_NONE:
    name = "no_drift";
    break;
  case MEAN_DRIFT_DOWNWARD:
    name = "downward_drift";
    break;
  case MEAN_DRIFT_UPWARD:
    name = "upward_drift";
    break;
  case MEAN_DRIFT_BOTH:
    name = "both_drift";
    break;
  case MEAN_DRIFT_UNKNOWN:
    name = "undefined_drift";
    break;
  default: {
    throw(vpException(vpException::fatalError, "Unsupported mean drift type in vpStatisticalTestAbstract::vpMeanDriftTypeToString()"));
  }
  }
  return name;
}
 
vpStatisticalTestAbstract::vpMeanDriftType vpStatisticalTestAbstract::vpMeanDriftTypeFromString(const std::string &name)
{
  vpMeanDriftType result = MEAN_DRIFT_UNKNOWN;
  unsigned int count = static_cast<unsigned int>(MEAN_DRIFT_COUNT);
  unsigned int id = 0;
  bool hasNotFound = true;
  while ((id < count) && hasNotFound) {
    vpMeanDriftType temp = static_cast<vpMeanDriftType>(id);
    if (vpMeanDriftTypeToString(temp) == name) {
      result = temp;
      hasNotFound = false;
    }
    ++id;
  }
  return result;
}
 
std::string vpStatisticalTestAbstract::getAvailableMeanDriftType(const std::string &prefix, const std::string &sep,
                                      const std::string &suffix)
{
  std::string msg(prefix);
  unsigned int count = static_cast<unsigned int>(MEAN_DRIFT_COUNT);
  unsigned int lastId = count - 1;
  for (unsigned int i = 0; i < lastId; i++) {
    msg += vpMeanDriftTypeToString(static_cast<vpMeanDriftType>(i)) + sep;
  }
  msg += vpMeanDriftTypeToString(static_cast<vpMeanDriftType>(lastId)) + suffix;
  return msg;
}
 
void vpStatisticalTestAbstract::print(const vpStatisticalTestAbstract::vpMeanDriftType &type)
{
  std::cout << vpMeanDriftTypeToString(type) << " detected" << std::endl;
}
 
bool vpStatisticalTestAbstract::updateStatistics(const float &signal)
{
  m_s[static_cast<unsigned int>(m_count)] = signal;
  m_count += 1.f;
  m_sumForMean += signal;
  if (static_cast<unsigned int> (m_count) >= m_nbSamplesForStatistics) {
    // Computation of the mean
    m_mean = m_sumForMean / m_count;
 
    // Computation of the stdev
    float sumSquaredDiff = 0.f;
    unsigned int count = static_cast<unsigned int>(m_nbSamplesForStatistics);
    for (unsigned int i = 0; i < count; ++i) {
      sumSquaredDiff += (m_s[i] - m_mean) * (m_s[i] - m_mean);
    }
    float stdev = std::sqrt(sumSquaredDiff / m_count);
    if (m_stdevmin < 0) {
      m_stdev = stdev;
    }
    else {
      m_stdev = std::max<float>(m_stdev, m_stdevmin);
    }
 
    m_areStatisticsComputed = true;
  }
  return m_areStatisticsComputed;
}
 
vpStatisticalTestAbstract::vpStatisticalTestAbstract()
  : m_areStatisticsComputed(false)
  , m_count(0.f)
  , m_limitDown(0.f)
  , m_limitUp(0.f)
  , m_mean(0.f)
  , m_nbSamplesForStatistics(0)
  , m_s(nullptr)
  , m_stdev(0.f)
  , m_stdevmin(-1.f)
  , m_sumForMean(0.f)
{ }
 
vpStatisticalTestAbstract::vpStatisticalTestAbstract(const vpStatisticalTestAbstract &other)
{
  *this = other;
}
 
vpStatisticalTestAbstract::~vpStatisticalTestAbstract()
{
  if (m_s != nullptr) {
    delete[] m_s;
    m_s = nullptr;
  }
}
 
void vpStatisticalTestAbstract::init()
{
  m_areStatisticsComputed = false;
  m_count = 0.f;
  m_limitDown = 0.f;
  m_limitUp = 0.f;
  m_mean = 0.f;
  m_nbSamplesForStatistics = 0;
  if (m_s != nullptr) {
    delete[] m_s;
    m_s = nullptr;
  }
  m_stdev = 0.f;
  m_sumForMean = 0.f;
}
 
vpStatisticalTestAbstract &vpStatisticalTestAbstract::operator=(const vpStatisticalTestAbstract &other)
{
  m_areStatisticsComputed = other.m_areStatisticsComputed;
  m_count = other.m_count;
  m_limitDown = other.m_limitDown;
  m_limitUp = other.m_limitUp;
  m_mean = other.m_mean;
  if (other.m_nbSamplesForStatistics > 0) {
    setNbSamplesForStat(other.m_nbSamplesForStatistics);
  }
  else if (m_s != nullptr) {
    m_nbSamplesForStatistics = 0;
    delete[] m_s;
    m_s = nullptr;
  }
  m_stdev = 0.f;
  m_sumForMean = 0.f;
  return *this;
}
 
void vpStatisticalTestAbstract::setNbSamplesForStat(const unsigned int &nbSamples)
{
  m_nbSamplesForStatistics = nbSamples;
  if (m_s != nullptr) {
    delete[] m_s;
  }
  m_s = new float[nbSamples];
}
 
vpStatisticalTestAbstract::vpMeanDriftType vpStatisticalTestAbstract::testDownUpwardMeanDrift(const float &signal)
{
  if (m_areStatisticsComputed) {
    updateTestSignals(signal);
    vpMeanDriftType jumpDown = detectDownwardMeanDrift();
    vpMeanDriftType jumpUp = detectUpwardMeanDrift();
    if ((jumpDown != MEAN_DRIFT_NONE) && (jumpUp != MEAN_DRIFT_NONE)) {
      return MEAN_DRIFT_BOTH;
    }
    else if (jumpDown != MEAN_DRIFT_NONE) {
      return jumpDown;
    }
    else if (jumpUp != MEAN_DRIFT_NONE) {
      return jumpUp;
    }
    else {
      return MEAN_DRIFT_NONE;
    }
  }
  else {
    updateStatistics(signal);
    return MEAN_DRIFT_NONE;
  }
}
 
vpStatisticalTestAbstract::vpMeanDriftType vpStatisticalTestAbstract::testDownwardMeanDrift(const float &signal)
{
  if (m_areStatisticsComputed) {
    updateTestSignals(signal);
    return detectDownwardMeanDrift();
  }
  else {
    updateStatistics(signal);
    return MEAN_DRIFT_NONE;
  }
}
 
vpStatisticalTestAbstract::vpMeanDriftType vpStatisticalTestAbstract::testUpwardMeanDrift(const float &signal)
{
  if (m_areStatisticsComputed) {
    updateTestSignals(signal);
    return detectUpwardMeanDrift();
  }
  else {
    updateStatistics(signal);
    return MEAN_DRIFT_NONE;
  }
}
END_VISP_NAMESPACE