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Feature/inspector files debug directories #330

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Feature/inspector files debug directories #330

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21dd683
Ignore vtk files
KrzysztofZurad Jul 6, 2018
7ed2783
Add file system dependency
KrzysztofZurad Jul 19, 2018
e608557
Add UniqueName func to check if files already exists and append leadi…
KrzysztofZurad Jul 19, 2018
54e1a42
Check if file is unique before saving it
KrzysztofZurad Jul 19, 2018
abc42d0
Changed library std::experimental::filesystem to boost::filesystem; I…
Jul 23, 2018
fcb485c
Dump path validation moved from openStream to accessor of Inspector.
Jul 25, 2018
8e73d69
Do not log iterations for reference cloud
Jul 25, 2018
9b7254d
Removed obsolete function.
Aug 22, 2018
4a15b47
Added dumpPath for PerformanceInspector.
Aug 23, 2018
eca32f0
Whitespaces tidy-up.
Aug 27, 2018
6851cab
Corrected indentation of 'if' condition.
Aug 27, 2018
554f43d
Reduced indentation of 'if' condition.
Aug 27, 2018
9e21f05
Removed duplicate fields in derived class.
Aug 28, 2018
b37421d
Fixed bug - only one reference cloud dumped when node keeps running b…
Aug 28, 2018
373901b
Whitespace correction.
Aug 28, 2018
58712b3
Fix missing comma
Mar 14, 2019
19ca986
Merge branch 'master' into feature/inspector_files_debug_directories
simonpierredeschenes May 6, 2019
5bdd8fa
Merge branch 'master' into feature/inspector_files_debug_directories
PhiBabin Jul 24, 2019
2fe2616
Merge branch 'master' into feature/inspector_files_debug_directories
pomerlef Dec 1, 2020
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -3,5 +3,6 @@
*~
*.swp
*.cur_trans
*.vtk
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We have .vtk files in /examples/data ignoring this extension could cause problems

build
.ipynb_checkpoints/
1 change: 0 additions & 1 deletion pointmatcher/IOFunctions.h
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Expand Up @@ -157,7 +157,6 @@ std::istream & readVtkData(std::string dataType, bool readBinary, MatrixRef into
//! Replaces getline for handling windows style CR/LF line endings
std::istream & safeGetLine( std::istream& is, std::string & t);


} // PointMatcherSupport

#endif // __POINTMATCHER_IOFUNCTIONS_H
13 changes: 13 additions & 0 deletions pointmatcher/Inspector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,5 +86,18 @@ template<typename T>
void PointMatcher<T>::Inspector::finish(const size_t iterationCount)
{}

template<typename T>
void PointMatcher<T>::Inspector::setAndValidateDumpPath(std::string path) {
if (!path.empty() && path.back() != '/') {
path += "/";
}
dumpPath = path;
}

template<typename T>
std::string PointMatcher<T>::Inspector::getDumpPath() const {
return dumpPath;
}

template struct PointMatcher<float>::Inspector;
template struct PointMatcher<double>::Inspector;
25 changes: 16 additions & 9 deletions pointmatcher/InspectorsImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ void InspectorsImpl<T>::PerformanceInspector::addStat(const std::string& name, d
HistogramMap::iterator it(stats.find(name));
if (it == stats.end()) {
LOG_INFO_STREAM("Adding new stat: " << name);
it = stats.insert(HistogramMap::value_type(name, Histogram(16, name, baseFileName, bDumpPerfOnExit))).first;
it = stats.insert(HistogramMap::value_type(name, Histogram(16, name, this->dumpPath + baseFileName, bDumpPerfOnExit))).first;
}
it->second.push_back(data);
}
Expand Down Expand Up @@ -142,7 +142,9 @@ InspectorsImpl<T>::AbstractVTKInspector::AbstractVTKInspector(const std::string&
bDumpDataLinks(Parametrizable::get<bool>("dumpDataLinks")),
bDumpReading(Parametrizable::get<bool>("dumpReading")),
bDumpReference(Parametrizable::get<bool>("dumpReference")),
bWriteBinary(Parametrizable::get<bool>("writeBinary"))
bWriteBinary(Parametrizable::get<bool>("writeBinary")),
bDumpReferenceOnlyFirstIter(Parametrizable::get<bool>("dumpReferenceOnlyFirstIter")),
isFirstIter(true)
{
}

Expand Down Expand Up @@ -404,12 +406,15 @@ void InspectorsImpl<T>::AbstractVTKInspector::dumpIteration(
closeStream(streamRead);
}

if (bDumpReference){
if (bDumpReference &&
((bDumpReferenceOnlyFirstIter && isFirstIter) || !bDumpReferenceOnlyFirstIter)
){
isFirstIter = false;
ostream* streamRef(openStream("reference", iterationNumber));
dumpDataPoints(filteredReference, *streamRef);
closeStream(streamRef);
}

if (!bDumpIterationInfo) return;

// streamIter must be define by children
Expand Down Expand Up @@ -727,16 +732,16 @@ void InspectorsImpl<T>::VTKFileInspector::init()
{

if (!bDumpIterationInfo) return;

ostringstream oss;
oss << baseFileName << "-iterationInfo.csv";
//std::cerr << "writing to " << oss.str() << std::endl;
LOG_INFO_STREAM("writing to " << oss.str());

this->streamIter = new ofstream(oss.str().c_str());
this->streamIter = new ofstream(this->dumpPath + oss.str().c_str());
if (this->streamIter->fail())
throw std::runtime_error("Couldn't open the file \"" + oss.str() + "\". Check if directory exist.");

}

template<typename T>
Expand All @@ -761,7 +766,7 @@ std::ostream* InspectorsImpl<T>::VTKFileInspector::openStream(const std::string&

//std::cerr << "writing to " << oss.str() << std::endl;
LOG_INFO_STREAM("writing to " << oss.str());
ofstream* file = new ofstream(oss.str().c_str(), std::ios::binary);
ofstream* file = new ofstream(this->dumpPath + oss.str().c_str(), std::ios::binary);
if (file->fail())
throw std::runtime_error("Couldn't open the file \"" + oss.str() + "\". Check if directory exist.");
return file;
Expand All @@ -772,7 +777,9 @@ std::ostream* InspectorsImpl<T>::VTKFileInspector::openStream(const std::string&
{
ostringstream oss;
oss << baseFileName << "-" << role << "-" << iterationNumber << ".vtk";
ofstream* file = new ofstream(oss.str().c_str());

LOG_INFO_STREAM("writing to " << oss.str());
ofstream* file = new ofstream(this->dumpPath + oss.str().c_str());
if (file->fail())
throw std::runtime_error("Couldn't open the file \"" + oss.str() + "\". Check if directory exist.");
return file;
Expand Down
7 changes: 6 additions & 1 deletion pointmatcher/InspectorsImpl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,8 @@ struct InspectorsImpl
const bool bDumpDataLinks;
const bool bDumpReading;
const bool bDumpReference;
const bool bDumpReferenceOnlyFirstIter;
bool isFirstIter;
const bool bWriteBinary;

public:
Expand All @@ -130,6 +132,8 @@ struct InspectorsImpl
virtual void dumpIteration(const size_t iterationNumber, const TransformationParameters& parameters, const DataPoints& filteredReference, const DataPoints& reading, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationCheckers& transformationCheckers);
virtual void finish(const size_t iterationCount);

virtual void resetIsFirstIter() { isFirstIter = true; }

private:
void buildGenericAttributeStream(std::ostream& stream, const std::string& attribute, const std::string& nameTag, const DataPoints& cloud, const int forcedDim);

Expand Down Expand Up @@ -171,7 +175,8 @@ struct InspectorsImpl
{"dumpDataLinks", "dump data links at each iteration", "0" },
{"dumpReading", "dump the reading cloud at each iteration", "0"},
{"dumpReference", "dump the reference cloud at each iteration", "0"},
{"writeBinary", "write binary VTK files", "0"}
{"writeBinary", "write binary VTK files", "0"},
{"dumpReferenceOnlyFirstIter", "dump the reference cloud only for the first iteration", "0"}
};
}

Expand Down
36 changes: 22 additions & 14 deletions pointmatcher/PointMatcher.h
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Expand Up @@ -615,42 +615,50 @@ struct PointMatcher
};
typedef typename TransformationCheckers::iterator TransformationCheckersIt; //!< alias
typedef typename TransformationCheckers::const_iterator TransformationCheckersConstIt; //!< alias

DEF_REGISTRAR(TransformationChecker)

// ---------------------------------

//! An inspector allows to log data at the different steps, for analysis.
struct Inspector: public Parametrizable
{

Inspector();
Inspector(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
//

//
virtual ~Inspector();
virtual void init();

// performance statistics
virtual void addStat(const std::string& name, double data);
virtual void dumpStats(std::ostream& stream);
virtual void dumpStatsHeader(std::ostream& stream);
// data statistics

// data statistics
virtual void dumpIteration(const size_t iterationNumber, const TransformationParameters& parameters, const DataPoints& filteredReference, const DataPoints& reading, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationCheckers& transformationCheckers);
virtual void finish(const size_t iterationCount);

virtual void setAndValidateDumpPath(std::string path);
virtual std::string getDumpPath() const;

virtual void resetIsFirstIter() {}

protected:
std::string dumpPath;
};
DEF_REGISTRAR(Inspector)

DEF_REGISTRAR(Inspector)

// ---------------------------------

DEF_REGISTRAR_IFACE(Logger, PointMatcherSupport::Logger)

// ---------------------------------

// algorithms

//! Stuff common to all ICP algorithms
struct ICPChainBase
{
Expand Down