21 #define GRT_DLL_EXPORTS
31 classType =
"SavitzkyGolayFilter";
32 preProcessingType = classType;
33 debugLog.setProceedingText(
"[DEBUG SavitzkyGolayFilter]");
34 errorLog.setProceedingText(
"[ERROR SavitzkyGolayFilter]");
35 warningLog.setProceedingText(
"[WARNING SavitzkyGolayFilter]");
36 init(numLeftHandPoints,numRightHandPoints,derivativeOrder,smoothingPolynomialOrder,numDimensions);
41 this->numPoints = rhs.numPoints;
42 this->numLeftHandPoints = rhs.numLeftHandPoints;
43 this->numRightHandPoints = rhs.numRightHandPoints;
44 this->derivativeOrder = rhs.derivativeOrder;
45 this->smoothingPolynomialOrder = rhs.smoothingPolynomialOrder;
46 this->data = rhs.data;
48 this->coeff = rhs.coeff;
50 classType =
"SavitzkyGolayFilter";
51 preProcessingType = classType;
52 debugLog.setProceedingText(
"[DEBUG SavitzkyGolayFilter]");
53 errorLog.setProceedingText(
"[ERROR SavitzkyGolayFilter]");
54 warningLog.setProceedingText(
"[WARNING SavitzkyGolayFilter]");
65 this->numPoints = rhs.numPoints;
66 this->numLeftHandPoints = rhs.numLeftHandPoints;
67 this->numRightHandPoints = rhs.numRightHandPoints;
68 this->derivativeOrder = rhs.derivativeOrder;
69 this->smoothingPolynomialOrder = rhs.smoothingPolynomialOrder;
70 this->data = rhs.data;
72 this->coeff = rhs.coeff;
80 if( preProcessing == NULL )
return false;
87 this->numPoints = ptr->numPoints;
88 this->numLeftHandPoints = ptr->numLeftHandPoints;
89 this->numRightHandPoints = ptr->numRightHandPoints;
90 this->derivativeOrder = ptr->derivativeOrder;
91 this->smoothingPolynomialOrder = ptr->smoothingPolynomialOrder;
92 this->data = ptr->data;
94 this->coeff = ptr->coeff;
100 errorLog <<
"clone(PreProcessing *preProcessing) - PreProcessing Types Do Not Match!" << std::endl;
108 errorLog <<
"process(const VectorFloat &inputVector) - Not initialized!" << std::endl;
112 if( inputVector.size() != numInputDimensions ){
113 errorLog <<
"process(const VectorFloat &inputVector) - The size of the inputVector (" << inputVector.size() <<
") does not match that of the filter (" << numInputDimensions <<
")!" << std::endl;
117 processedData =
filter( inputVector );
119 if( processedData.size() == numOutputDimensions )
return true;
128 yy.
resize(numInputDimensions,0);
129 processedData.clear();
130 processedData.
resize(numInputDimensions,0);
138 if( !file.is_open() ){
139 errorLog <<
"save(std::fstream &file) - The file is not open!" << std::endl;
143 file <<
"GRT_SAVITZKY_GOLAY_FILTER_FILE_V1.0" << std::endl;
145 file <<
"NumInputDimensions: " << numInputDimensions << std::endl;
146 file <<
"NumOutputDimensions: " << numOutputDimensions << std::endl;
147 file <<
"NumPoints: " << numPoints << std::endl;
148 file <<
"NumLeftHandPoints: " << numLeftHandPoints << std::endl;
149 file <<
"NumRightHandPoints: " << numRightHandPoints << std::endl;
150 file <<
"DerivativeOrder: " << derivativeOrder << std::endl;
151 file <<
"SmoothingPolynomialOrder: " << smoothingPolynomialOrder << std::endl;
158 if( !file.is_open() ){
159 errorLog <<
"load(std::fstream &file) - The file is not open!" << std::endl;
168 if( word !=
"GRT_SAVITZKY_GOLAY_FILTER_FILE_V1.0" ){
169 errorLog <<
"load(std::fstream &file) - Invalid file format!" << std::endl;
175 if( word !=
"NumInputDimensions:" ){
176 errorLog <<
"load(std::fstream &file) - Failed to read NumInputDimensions header!" << std::endl;
179 file >> numInputDimensions;
183 if( word !=
"NumOutputDimensions:" ){
184 errorLog <<
"load(std::fstream &file) - Failed to read NumOutputDimensions header!" << std::endl;
187 file >> numOutputDimensions;
191 if( word !=
"NumPoints:" ){
192 errorLog <<
"load(std::fstream &file) - Failed to read NumPoints header!" << std::endl;
199 if( word !=
"NumLeftHandPoints:" ){
200 errorLog <<
"load(std::fstream &file) - Failed to read NumLeftHandPoints header!" << std::endl;
203 file >> numLeftHandPoints;
207 if( word !=
"NumRightHandPoints:" ){
208 errorLog <<
"load(std::fstream &file) - Failed to read numRightHandPoints header!" << std::endl;
211 file >> numRightHandPoints;
215 if( word !=
"DerivativeOrder:" ){
216 errorLog <<
"load(std::fstream &file) - Failed to read DerivativeOrder header!" << std::endl;
219 file >> derivativeOrder;
223 if( word !=
"SmoothingPolynomialOrder:" ){
224 errorLog <<
"load(std::fstream &file) - Failed to read SmoothingPolynomialOrder header!" << std::endl;
227 file >> smoothingPolynomialOrder;
230 return init(numLeftHandPoints,numRightHandPoints,derivativeOrder,smoothingPolynomialOrder,numInputDimensions);
233 bool SavitzkyGolayFilter::init(UINT numLeftHandPoints,UINT numRightHandPoints,UINT derivativeOrder,UINT smoothingPolynomialOrder,UINT numDimensions){
237 if( numDimensions == 0 ){
238 errorLog <<
"init(Float filterFactor,Float gain,UINT numDimensions) - NumDimensions must be greater than 0!" << std::endl;
242 this->numPoints = numLeftHandPoints+numRightHandPoints+1;
243 this->numLeftHandPoints = numLeftHandPoints;
244 this->numRightHandPoints = numRightHandPoints;
245 this->derivativeOrder = derivativeOrder;
246 this->smoothingPolynomialOrder = smoothingPolynomialOrder;
248 this->numInputDimensions = numDimensions;
249 this->numOutputDimensions = numDimensions;
251 yy.
resize(numDimensions,0);
252 processedData.clear();
253 processedData.
resize(numDimensions,0);
257 errorLog <<
"init(UINT NL,UINT NR,UINT LD,UINT M,UINT numDimensions) - Failed to compute filter coefficents!" << std::endl;
270 errorLog <<
"filter(Float x) - The filter has not been initialized!" << std::endl;
276 if( y.size() > 0 )
return y[0];
283 errorLog <<
"filter(const VectorFloat &x) - Not Initialized!" << std::endl;
287 if( x.size() != numInputDimensions ){
288 errorLog <<
"filter(const VectorFloat &x) - The Number Of Input Dimensions (" << numInputDimensions <<
") does not match the size of the input vector (" << x.size() <<
")!" << std::endl;
296 for(UINT j=0; j<x.size(); j++){
297 processedData[j] = 0;
298 for(UINT i=0; i<numPoints; i++)
299 processedData[j] += data[i][j] * coeff[i];
302 return processedData;
305 bool SavitzkyGolayFilter::calCoeff(){
307 int np = (int)numPoints;
308 int nl = (int)numLeftHandPoints;
309 int nr = (int)numRightHandPoints;
310 int ld = (int)derivativeOrder;
311 int m = (int)smoothingPolynomialOrder;
312 int i,j,k,imj,ipj,kk,mm,pos;
319 for (ipj=0; ipj<=(m << 1); ipj++) {
320 sum=(ipj ? 0.0 : 1.0);
322 for (k=1; k<=nr; k++) sum += pow(Float(k),Float(ipj));
323 for (k=1; k<=nl; k++) sum += pow(Float(-k),Float(ipj));
325 mm = min_(ipj,2*m-ipj);
327 for (imj = -mm; imj<=mm; imj+=2) a[(ipj+imj)/2][(ipj-imj)/2] = sum;
331 for (j=0;j<m+1;j++) b[j]=0.0;
333 if( !alud.solve_vector(b,b) ){
337 for (kk=0; kk<np; kk++) c[kk]=0.0;
338 for (k = -nl; k<=nr; k++) {
342 for(mm=1; mm<=m; mm++)
343 sum += b[mm]*(fac *= k);
bool push_back(const T &value)
Float filter(const Float x)
virtual ~SavitzkyGolayFilter()
This implements a Savitzky-Golay filter. This code is based on the Savitzky Golay filter code from Nu...
virtual bool resize(const unsigned int size)
SavitzkyGolayFilter(UINT numLeftHandPoints=10, UINT numRightHandPoints=10, UINT derivativeOrder=0, UINT smoothingPolynomialOrder=2, UINT numDimensions=1)
std::string getPreProcessingType() const
virtual bool load(std::fstream &file)
virtual bool deepCopyFrom(const PreProcessing *preProcessing)
SavitzkyGolayFilter & operator=(const SavitzkyGolayFilter &rhs)
bool copyBaseVariables(const PreProcessing *preProcessingModule)
bool setAllValues(const T &value)
virtual bool process(const VectorFloat &inputVector)
virtual bool save(std::fstream &file) const
bool resize(const unsigned int newBufferSize)