Feature/inspector files debug directories

.gitignore

@@ -3,5 +3,6 @@
 *~
 *.swp
 *.cur_trans
+*.vtk
 build
 .ipynb_checkpoints/

pointmatcher/IOFunctions.h

@@ -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

pointmatcher/Inspector.cpp

@@ -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;

pointmatcher/InspectorsImpl.cpp

@@ -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);
 }
@@ -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)
 {
 }
 
@@ -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
@@ -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>
@@ -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;
@@ -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;

pointmatcher/InspectorsImpl.h

@@ -120,6 +120,8 @@ struct InspectorsImpl
 		const bool bDumpDataLinks;
 		const bool bDumpReading;
 		const bool bDumpReference;
+		const bool bDumpReferenceOnlyFirstIter;
+		bool isFirstIter;
 		const bool bWriteBinary;
 
 	public:
@@ -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);
 
@@ -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"}
 			};
 		}
 

pointmatcher/PointMatcher.h

@@ -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
 	{