median_filter.h

Go to the documentation of this file.

#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