Arduino library for creating histograms math.
One of the main applications for the Arduino board is reading and logging of sensor data. We often want to make a histogram of this data to get insight of the distribution of the measurements. This is where this Histogram library comes in.
The Histogram distributes the values added to it into buckets and keeps count per bucket.
If you need more quantitative analysis, you might need the statistics library,
- https://github.com/RobTillaart/Correlation
- https://github.com/RobTillaart/GST - Golden standard test metrics
- https://github.com/RobTillaart/Histogram
- https://github.com/RobTillaart/Kurtosis
- https://github.com/RobTillaart/RunningAngle
- https://github.com/RobTillaart/RunningAverage
- https://github.com/RobTillaart/RunningMedian
- https://github.com/RobTillaart/statHelpers - combinations & permutations
- https://github.com/RobTillaart/Statistic
When the class is initialized an array of the boundaries to define the borders of the buckets is passed to the constructor. This array should be declared global as the Histogram class does not copy the values to keep memory usage low. This allows to change the boundaries runtime, so after a clear(), a new Histogram can be created.
The values in the boundary array do not need to be equidistant (equal in size) but they need to be in ascending order.
Internally the library does not record the individual values, only the count per bucket. If a new value is added - add(value) - the class checks in which bucket it belongs and the buckets counter is increased.
The sub(value) function is used to decrease the count of a bucket and it can cause the count to become below zero. Although seldom used but still depending on the application it can be useful. E.g. when you want to compare two value generating streams, you let one stream add() and the other sub(). If the histogram of both streams is similar they should cancel each other out (more or less), and the value of all buckets should be around 0. [not tried].
The frequency() function may be removed to reduce footprint as it can be calculated with the formula (1.0 * bucket(i))/count().
Histogram8 and Histogram16 are derived classes with same interface but smaller buckets. Histogram can count to ± 2^31 while often ± 2^15 or even ± 2^7 is sufficient. Saves substantial memory.
| class name | length | count/bucket | max memory |
|---|---|---|---|
| Histogram | 65534 | ± 2147483647 | 260 KB |
| Histogram8 | 65534 | ± 127 | 65 KB |
| Histogram16 | 65534 | ± 32767 | 130 KB |
The difference is the _data array, to reduce the memory footprint.
Note: max memory is without the boundary array.
Performance optimizations are possible too however not essential for the experimental version.
#include "histogram.h"- Histogram(uint16_t length, float *bounds) constructor, get an array of boundary values and array length. Length should be less than 65534.
- Histogram8(uint16_t length, float *bounds) idem as above.
- Histogram16(uint16_t length, float *bounds) idem as above.
- ~Histogram() destructor.
- ~Histogram8() destructor.
- ~Histogram16() destructor.
Default the maxBucket size is defined as 255 (8 bit), 65535 (16 bit) or 2147483647 (32 bit) depending on class used. The functions below allow to set and get the maxBucket so the add() and sub() function will reach FULL faster. Useful in some applications e.g. games.
- void setMaxBucket(uint32_t value) to have a user defined maxBucket level e.g 25
- uint32_t getMaxBucket() returns the current maxBucket.
Please note it makes no sense to set maxBucket to a value larger than the histogram type can handle. Setting maxBucket to 300 for Histogram8 will always fail as data can only handle values between 0 .. 255.
- uint8_t clear(float value = 0) reset all bucket counters to value (default 0). Returns status, see below.
- uint8_t setBucket(const uint16_t index, int32_t value = 0) store / overwrite a value of bucket. Returns status, see below.
- uint8_t add(float value) add a value, increase count of bucket. Returns status, see below.
- uint8_t sub(float value) 'add' a value, decrease (subtract) count of bucket. This is less used and has some side effects, see frequency(). Returns status, see below.
| Status | Value | Description |
|---|---|---|
| HISTO_OK | 0x00 | all is well |
| HISTO_FULL | 0x01 | add() / sub() caused bucket full ( + or - ) |
| HISTO_ERR_FULL | 0xFF | cannot add() / sub(), overflow / underflow |
| HISTO_ERR_LENGTH | 0xFE | length = 0 error (constructor) |
- uint16_t size() returns number of buckets.
- uint32_t count() returns total number of values added (or subtracted).
- int32_t bucket(uint16_t index) returns the count of single bucket. Can be negative if one uses sub()
- float frequency(uint16_t index) returns the relative frequency of a bucket. This is always between -1.0 and 1.0.
Some notes about frequency()
- can return a negative value if an application uses sub()
- sum of all buckets will not add up to 1.0 if one uses sub()
- value (and thus sum) will deviate if HISTO_ERR_FULL has occurred.
- uint16_t find(float value) returns the index of the bucket for value.
- uint16_t findMin() returns the (first) index of the bucket with the minimum value.
- uint16_t findMax() returns the (first) index of the bucket with the maximum value.
- uint16_t countLevel(int32_t level) returns the number of buckets with exact that level (count).
- uint16_t countAbove(int32_t level) returns the number of buckets above level.
- uint16_t countBelow(int32_t level) returns the number of buckets below level.
There are three experimental functions:
- float PMF(float value) Probability Mass Function. Quite similar to frequency(), but uses a value as parameter.
- float CDF(float value) Cumulative Distribution Function. Returns the sum of frequencies <= value. Always between 0.0 and 1.0.
- float VAL(float probability) Value Function, is CDF() inverted. Returns the value of the original array for which the CDF is at least probability.
- int32_t sum() returns the sum of all buckets. (not experimental). Just as with frequency() it is affected by the use of sub(), including returning a negative value.
As most Arduino sketches typical uses a small number of buckets these functions are quite coarse and/or inaccurate, so indicative at best. Linear interpolation within "last" bucket needs to be investigated, however it introduces its own uncertainty. Alternative is to add last box for 50%.
Note PDF() is a continuous function and therefore not applicable in a discrete histogram.
- https://en.wikipedia.org/wiki/Probability_mass_function PMF()
- https://en.wikipedia.org/wiki/Cumulative_distribution_function CDF() + VAL()
- https://en.wikipedia.org/wiki/Probability_density_function PDF()
An additional helper function.
- float saturation() returns the count() / nr of bins. Is an indicator of how "filled" the histogram is.
Might need to calculate the average level.
Note: findMax() gives an indication for the topmost individual bucket.
- improve documentation
- investigate performance - find() the right bucket.
- Binary search is faster (above 20)
- need testing.
- mixed search, last part (< 20) linear?
- improve accuracy - linear interpolation for PMF(), CDF() and VAL()
- performance - merge loops in PMF()
- performance - reverse loops - compare to zero.
- saturation() indication of the whole histogram
- count / nr of bins?
- percentage readOut == frequency()
- float getBucketPercent(idx)
- template class .
- merge bins
- 2D histograms ? e.g. positions on a grid.
- see SparseMatrix
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