median_filter.h

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#ifndef MEDIAN_FILTER
#define MEDIAN_FILTER
 
#include <boost/circular_buffer.hpp>
#include <mutex>
#include <cmath>
#include <vector>
#include <optional>
 
namespace mrs_lib
{
  class MedianFilter
  {
  public:
    MedianFilter(const size_t buffer_length, const double min_value = -std::numeric_limits<double>::infinity(),
                 const double max_value = std::numeric_limits<double>::infinity(), const double max_diff = std::numeric_limits<double>::infinity());
 
    MedianFilter();
 
    MedianFilter(const MedianFilter& other);
 
    MedianFilter(MedianFilter&& other);
 
    MedianFilter& operator=(const MedianFilter& other);
 
    MedianFilter& operator=(MedianFilter&& other);
 
    void add(const double value);
 
    bool check(const double value);
 
    bool addCheck(const double value);
 
    void clear();
 
    bool full() const;
 
    double median() const;
 
    bool initialized() const;
 
    void setBufferLength(const size_t buffer_length);
 
    void setMinValue(const double min_value);
 
    void setMaxValue(const double max_value);
 
    void setMaxDifference(const double max_diff);
 
  private:
    // for thread-safety
    mutable std::recursive_mutex m_mtx;
    // the input buffer
    boost::circular_buffer<double> m_buffer;
    // a helper buffer for sorting the input buffer
    mutable std::vector<double> m_buffer_sorted;
    // the last median value for lazy evaluation
    mutable std::optional<double> m_median;
 
    // parameters specified by the user
    double m_min_valid;
    double m_max_valid;
    double m_max_diff;
  };
 
} // namespace mrs_lib
 
#endif