InspectorsImpl.h
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3 /*
4 
5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
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34 */
35 
36 #ifndef __POINTMATCHER_INSPECTORS_H
37 #define __POINTMATCHER_INSPECTORS_H
38 
39 #include "PointMatcher.h"
40 #include "Histogram.h"
41 
42 template<typename T>
44 {
50 
57  typedef typename PointMatcher<T>::Matrix Matrix;
58 
59  // Clearer name when no inspector is required
60  struct NullInspector: public Inspector
61  {
62  inline static const std::string description()
63  {
64  return "Does nothing.";
65  }
66 
67  // This constructor is not required. It make the attribute className == "NullInspector" instead of 'unknown'
68  NullInspector() : Inspector("NullInspector", ParametersDoc(), Parameters()) {}
69 
70  };
71 
73  {
74  inline static const std::string description()
75  {
76  return "Keep statistics on performance.";
77  }
78  inline static const ParametersDoc availableParameters()
79  {
80  return {
81  {"baseFileName", "base file name for the statistics files (if empty, disabled)", ""},
82  {"dumpPerfOnExit", "dump performance statistics to stderr on exit", "0"},
83  {"dumpStats", "dump the statistics on first and last step", "0"}
84  };
85  }
86 
88  // Note: Prefix boolean variables with 'b' to avoid conflicts
89  // with similarly named functions.
90  const bool bDumpPerfOnExit;
91  const bool bDumpStats;
92 
93  protected:
95  typedef std::map<std::string, Histogram> HistogramMap;
97 
98  public:
101 
102  virtual void addStat(const std::string& name, double data);
103  virtual void dumpStats(std::ostream& stream);
104  virtual void dumpStatsHeader(std::ostream& stream);
105  };
106 
108  {
109 
110  protected:
111  virtual std::ostream* openStream(const std::string& role) = 0;
112  virtual std::ostream* openStream(const std::string& role, const size_t iterationNumber) = 0;
113  virtual void closeStream(std::ostream* stream) = 0;
114  void dumpDataPoints(const DataPoints& data, std::ostream& stream);
115  void dumpMeshNodes(const DataPoints& data, std::ostream& stream);
116  void dumpDataLinks(const DataPoints& ref, const DataPoints& reading, const Matches& matches, const OutlierWeights& featureOutlierWeights, std::ostream& stream);
117 
118  std::ostream* streamIter;
119  const bool bDumpIterationInfo;
120  const bool bDumpDataLinks;
121  const bool bDumpReading;
122  const bool bDumpReference;
123  const bool bWriteBinary;
124 
125  public:
126  AbstractVTKInspector(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
127  virtual void init() {};
128  virtual void dumpDataPoints(const DataPoints& cloud, const std::string& name);
129  virtual void dumpMeshNodes(const DataPoints& cloud, const std::string& name);
130  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);
131  virtual void finish(const size_t iterationCount);
132 
133  private:
134  void buildGenericAttributeStream(std::ostream& stream, const std::string& attribute, const std::string& nameTag, const DataPoints& cloud, const int forcedDim);
135 
136  void buildScalarStream(std::ostream& stream, const std::string& name, const DataPoints& ref, const DataPoints& reading);
137  void buildScalarStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
138 
139  void buildNormalStream(std::ostream& stream, const std::string& name, const DataPoints& ref, const DataPoints& reading);
140  void buildNormalStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
141 
142  void buildVectorStream(std::ostream& stream, const std::string& name, const DataPoints& ref, const DataPoints& reading);
143  void buildVectorStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
144 
145  void buildTensorStream(std::ostream& stream, const std::string& name, const DataPoints& ref, const DataPoints& reading);
146  void buildTensorStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
147 
148  void buildColorStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
149 
150  void buildTimeStream(std::ostream& stream, const std::string& name, const DataPoints& cloud);
151 
152 
153 
154  Matrix padWithZeros(const Matrix m, const int expectedRow, const int expectedCols);
155  Matrix padWithOnes(const Matrix m, const int expectedRow, const int expectedCols);
156  };
157 
159  {
160  inline static const std::string description()
161  {
162  return "Dump the different steps into VTK files.";
163  }
164  inline static const ParametersDoc availableParameters()
165  {
166  return {
167  {"baseFileName", "base file name for the VTK files ", "point-matcher-output"},
168  {"dumpPerfOnExit", "dump performance statistics to stderr on exit", "0"},
169  {"dumpStats", "dump the statistics on first and last step", "0"},
170  {"dumpIterationInfo", "dump iteration info", "0"},
171  {"dumpDataLinks", "dump data links at each iteration", "0" },
172  {"dumpReading", "dump the reading cloud at each iteration", "0"},
173  {"dumpReference", "dump the reference cloud at each iteration", "0"},
174  {"writeBinary", "write binary VTK files", "0"}
175  };
176  }
177 
179  const bool bDumpIterationInfo;
180  const bool bDumpDataLinks;
181  const bool bDumpReading;
182  const bool bDumpReference;
183 
184  protected:
185  virtual std::ostream* openStream(const std::string& role);
186  virtual std::ostream* openStream(const std::string& role, const size_t iterationCount);
187  virtual void closeStream(std::ostream* stream);
188 
189  public:
191  virtual void init();
192  virtual void finish(const size_t iterationCount);
193  };
194 }; // InspectorsImpl
195 
196 #endif // __POINTMATCHER_INSPECTORS_H
InspectorsImpl::AbstractVTKInspector::bDumpReference
const bool bDumpReference
Definition: InspectorsImpl.h:122
InspectorsImpl::AbstractVTKInspector::dumpDataLinks
void dumpDataLinks(const DataPoints &ref, const DataPoints &reading, const Matches &matches, const OutlierWeights &featureOutlierWeights, std::ostream &stream)
Definition: InspectorsImpl.cpp:286
InspectorsImpl::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: InspectorsImpl.h:52
InspectorsImpl::AbstractVTKInspector::buildScalarStream
void buildScalarStream(std::ostream &stream, const std::string &name, const DataPoints &ref, const DataPoints &reading)
Definition: InspectorsImpl.cpp:532
InspectorsImpl::AbstractVTKInspector::closeStream
virtual void closeStream(std::ostream *stream)=0
InspectorsImpl::AbstractVTKInspector::bDumpDataLinks
const bool bDumpDataLinks
Definition: InspectorsImpl.h:120
InspectorsImpl::AbstractVTKInspector::dumpIteration
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)
Dump the state of a given iteration.
Definition: InspectorsImpl.cpp:385
InspectorsImpl::AbstractVTKInspector::padWithZeros
Matrix padWithZeros(const Matrix m, const int expectedRow, const int expectedCols)
Definition: InspectorsImpl.cpp:666
InspectorsImpl::AbstractVTKInspector::bDumpReading
const bool bDumpReading
Definition: InspectorsImpl.h:121
InspectorsImpl::PerformanceInspector
Definition: InspectorsImpl.h:72
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
InspectorsImpl::Inspector
PointMatcher< T >::Inspector Inspector
Definition: InspectorsImpl.h:51
InspectorsImpl::AbstractVTKInspector::streamIter
std::ostream * streamIter
Definition: InspectorsImpl.h:118
icp_customized.name
string name
Definition: icp_customized.py:45
InspectorsImpl::AbstractVTKInspector::bWriteBinary
const bool bWriteBinary
Definition: InspectorsImpl.h:123
InspectorsImpl::AbstractVTKInspector::buildGenericAttributeStream
void buildGenericAttributeStream(std::ostream &stream, const std::string &attribute, const std::string &nameTag, const DataPoints &cloud, const int forcedDim)
Definition: InspectorsImpl.cpp:453
InspectorsImpl::VTKFileInspector::bDumpReference
const bool bDumpReference
Definition: InspectorsImpl.h:182
InspectorsImpl::VTKFileInspector::bDumpReading
const bool bDumpReading
Definition: InspectorsImpl.h:181
InspectorsImpl::PerformanceInspector::Histogram
PointMatcherSupport::Histogram< double > Histogram
Definition: InspectorsImpl.h:94
InspectorsImpl::Matches
PointMatcher< T >::Matches Matches
Definition: InspectorsImpl.h:53
InspectorsImpl::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: InspectorsImpl.h:49
InspectorsImpl::VTKFileInspector::description
static const std::string description()
Definition: InspectorsImpl.h:160
InspectorsImpl::PerformanceInspector::HistogramMap
std::map< std::string, Histogram > HistogramMap
Definition: InspectorsImpl.h:95
InspectorsImpl::AbstractVTKInspector
Definition: InspectorsImpl.h:107
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
InspectorsImpl::VTKFileInspector::availableParameters
static const ParametersDoc availableParameters()
Definition: InspectorsImpl.h:164
testing::internal::string
::std::string string
Definition: gtest.h:1979
InspectorsImpl::AbstractVTKInspector::dumpDataPoints
void dumpDataPoints(const DataPoints &data, std::ostream &stream)
Definition: InspectorsImpl.cpp:159
InspectorsImpl::PerformanceInspector::bDumpPerfOnExit
const bool bDumpPerfOnExit
Definition: InspectorsImpl.h:90
InspectorsImpl::VTKFileInspector::closeStream
virtual void closeStream(std::ostream *stream)
Definition: InspectorsImpl.cpp:782
InspectorsImpl::NullInspector::description
static const std::string description()
Definition: InspectorsImpl.h:62
InspectorsImpl::VTKFileInspector::VTKFileInspector
VTKFileInspector(const Parameters &params=Parameters())
Definition: InspectorsImpl.cpp:715
InspectorsImpl::VTKFileInspector::init
virtual void init()
Start a new ICP operation or sequence.
Definition: InspectorsImpl.cpp:726
InspectorsImpl::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: InspectorsImpl.h:45
InspectorsImpl::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: InspectorsImpl.h:48
InspectorsImpl::PerformanceInspector::stats
HistogramMap stats
Definition: InspectorsImpl.h:96
InspectorsImpl::Matrix
PointMatcher< T >::Matrix Matrix
Definition: InspectorsImpl.h:57
InspectorsImpl::PerformanceInspector::description
static const std::string description()
Definition: InspectorsImpl.h:74
InspectorsImpl::AbstractVTKInspector::openStream
virtual std::ostream * openStream(const std::string &role)=0
InspectorsImpl::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: InspectorsImpl.h:54
InspectorsImpl::VTKFileInspector::baseFileName
const std::string baseFileName
Definition: InspectorsImpl.h:178
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
InspectorsImpl::PerformanceInspector::dumpStats
virtual void dumpStats(std::ostream &stream)
Dump all statistics in CSV format.
Definition: InspectorsImpl.cpp:83
InspectorsImpl::PerformanceInspector::baseFileName
const std::string baseFileName
Definition: InspectorsImpl.h:87
InspectorsImpl::AbstractVTKInspector::finish
virtual void finish(const size_t iterationCount)
Tell the inspector the ICP operation is completed.
Definition: InspectorsImpl.cpp:706
PointMatcherSupport::Parametrizable::parameters
Parameters parameters
parameters with their values encoded in string
Definition: Parametrizable.h:204
icp_advance_api.matches
matches
Definition: icp_advance_api.py:114
icp.data
data
Definition: icp.py:50
InspectorsImpl::TransformationCheckers
PointMatcher< T >::TransformationCheckers TransformationCheckers
Definition: InspectorsImpl.h:56
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
InspectorsImpl::VTKFileInspector::bDumpDataLinks
const bool bDumpDataLinks
Definition: InspectorsImpl.h:180
icp.ref
ref
Definition: icp.py:49
InspectorsImpl::AbstractVTKInspector::buildColorStream
void buildColorStream(std::ostream &stream, const std::string &name, const DataPoints &cloud)
Definition: InspectorsImpl.cpp:524
InspectorsImpl::AbstractVTKInspector::init
virtual void init()
Start a new ICP operation or sequence.
Definition: InspectorsImpl.h:127
InspectorsImpl::PerformanceInspector::PerformanceInspector
PerformanceInspector(const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
Definition: InspectorsImpl.cpp:52
Histogram.h
InspectorsImpl::PerformanceInspector::availableParameters
static const ParametersDoc availableParameters()
Definition: InspectorsImpl.h:78
InspectorsImpl::PerformanceInspector::dumpStatsHeader
virtual void dumpStatsHeader(std::ostream &stream)
Dump header for all statistics.
Definition: InspectorsImpl.cpp:97
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
InspectorsImpl::PerformanceInspector::addStat
virtual void addStat(const std::string &name, double data)
Add a value for statistics name, create it if new.
Definition: InspectorsImpl.cpp:70
InspectorsImpl::AbstractVTKInspector::AbstractVTKInspector
AbstractVTKInspector(const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
Definition: InspectorsImpl.cpp:138
InspectorsImpl::AbstractVTKInspector::padWithOnes
Matrix padWithOnes(const Matrix m, const int expectedRow, const int expectedCols)
Definition: InspectorsImpl.cpp:686
InspectorsImpl::AbstractVTKInspector::buildTimeStream
void buildTimeStream(std::ostream &stream, const std::string &name, const DataPoints &cloud)
Definition: InspectorsImpl.cpp:628
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
InspectorsImpl::NullInspector::NullInspector
NullInspector()
Definition: InspectorsImpl.h:68
InspectorsImpl::AbstractVTKInspector::buildVectorStream
void buildVectorStream(std::ostream &stream, const std::string &name, const DataPoints &ref, const DataPoints &reading)
Definition: InspectorsImpl.cpp:581
PointMatcher::TransformationCheckers
A chain of TransformationChecker.
Definition: PointMatcher.h:611
InspectorsImpl::VTKFileInspector
Definition: InspectorsImpl.h:158
PointMatcher::Inspector
An inspector allows to log data at the different steps, for analysis.
Definition: PointMatcher.h:624
InspectorsImpl::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: InspectorsImpl.h:55
InspectorsImpl
Definition: InspectorsImpl.h:43
InspectorsImpl::AbstractVTKInspector::bDumpIterationInfo
const bool bDumpIterationInfo
Definition: InspectorsImpl.h:119
InspectorsImpl::AbstractVTKInspector::buildTensorStream
void buildTensorStream(std::ostream &stream, const std::string &name, const DataPoints &ref, const DataPoints &reading)
Definition: InspectorsImpl.cpp:605
InspectorsImpl::P
PointMatcherSupport::Parametrizable P
Definition: InspectorsImpl.h:46
InspectorsImpl::VTKFileInspector::openStream
virtual std::ostream * openStream(const std::string &role)
Definition: InspectorsImpl.cpp:750
PointMatcher.h
public interface
InspectorsImpl::AbstractVTKInspector::buildNormalStream
void buildNormalStream(std::ostream &stream, const std::string &name, const DataPoints &ref, const DataPoints &reading)
Definition: InspectorsImpl.cpp:557
PointMatcherSupport::Histogram
Definition: Histogram.h:46
InspectorsImpl::VTKFileInspector::bDumpIterationInfo
const bool bDumpIterationInfo
Definition: InspectorsImpl.h:179
InspectorsImpl::PerformanceInspector::bDumpStats
const bool bDumpStats
Definition: InspectorsImpl.h:91
InspectorsImpl::NullInspector
Definition: InspectorsImpl.h:60
PointMatcherSupport::Parametrizable::className
const std::string className
name of the class
Definition: Parametrizable.h:202
InspectorsImpl::AbstractVTKInspector::dumpMeshNodes
void dumpMeshNodes(const DataPoints &data, std::ostream &stream)
Definition: InspectorsImpl.cpp:238
InspectorsImpl::VTKFileInspector::finish
virtual void finish(const size_t iterationCount)
Tell the inspector the ICP operation is completed.
Definition: InspectorsImpl.cpp:743
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
compute_overlap.reading
reading
Definition: compute_overlap.py:70
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
InspectorsImpl::Parameters
Parametrizable::Parameters Parameters
Definition: InspectorsImpl.h:47


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