Added the ability to redirect logging to a callable. #6244

larshg · 2025-03-01T17:57:04Z

I'm in deep water here, but it seems to work :)

Please come with suggestions, before spent too much time in the wrong way.

Could close #5589

larshg · 2025-03-01T21:14:19Z

@mvieth do you have any idea to why there is linker errors with pcl::octree:OctreeKey::maxDepth ?

mvieth · 2025-03-01T23:02:15Z

@mvieth do you have any idea to why there is linker errors with pcl::octree:OctreeKey::maxDepth ?

Must have something to do with the usage of maxDepth here: https://github.com/PointCloudLibrary/pcl/blob/master/octree/include/pcl/octree/impl/octree_base.hpp#L98
maxDepth is a static const member, so maybe something related to ODR-use? I have to look at your changes in detail first before I can make a more specific guess.

larshg · 2025-03-01T23:09:18Z

Ahh, its in that print statement it fails... hmm, still odd though.

larshg · 2025-03-02T20:39:05Z

Maybe pcl::console::LogRecorder should be a member of the Logger, to avoid creating a stringstream for each stream command - would that make sense?

roncapat · 2025-03-03T11:43:47Z

Nice for me, even if I not like too much the following:

pcl::console::Logger::getInstance().setCallback(...)

because of the getInstance() call... is there a way to remove this indirection level?

Moreover, I think that the previous callback needs to be returned from the setCallaback() call to be able to restore it.

larshg · 2025-03-03T11:59:12Z

Nice for me, even if I not like too much the following:
pcl::console::Logger::getInstance().setCallback(...)
because of the getInstance() call... is there a way to remove this indirection level?

Moreover, I think that the previous callback needs to be returned from the setCallaback() call to be able to restore it.

Somehow the callback needs to be saved - and having just a static global variable to a std::function, didn't seem right either. At least it was the best solution I found, also browsing other logging frameworks.

roncapat · 2025-03-03T12:07:48Z

common/src/print.cpp

+  return instance;
+}
+
 ////////////////////////////////////////////////////////////////////////////////


template <typename Functor> void pcl::console::Logger::setCallback(Functor&& callback){ getInstance().setCallback(std::move(callback)); }

DISCLAIMER: draft, untested code.
@larshg wouldn't this work? Would the template be a problem there?

You want a free function like:

template <typename Functor> void setCallback(Functor&& callback) { Logger::getInstance().setCallback(std::move(callback)); }

so you can call:
pcl::console::setCallback(...);

Yes, thats possible.

roncapat · 2025-03-03T12:08:40Z

Moreover, why generic template "functor" instead of std::function?

larshg · 2025-03-03T12:20:22Z

Else I couldn't get it to work with lambdas - but maybe I did it wrong 😄

larshg · 2025-03-03T12:21:27Z

To restore normal logging again, you can just set the callback to a nullptr.

aurelienrb · 2025-03-05T14:49:10Z

I had a quick look and it looks promising to me, thanks for your work

mvieth

I assume we are targeting PCL 1.16.0, due to likely ABI changes?

Is there a way to easily reset to the default behaviour, after calling setCallback? Edit: I just read your other comment: set callback to a nullptr. Please document this in the code somewhere.

common/include/pcl/console/print.h

examples/segmentation/example_cpc_segmentation.cpp

octree/include/pcl/octree/octree_key.h

common/include/pcl/console/print.h

Copilot

Pull Request Overview

This PR adds the ability to redirect PCL logging to a callable function, which addresses the need for programmatic access to logging output rather than just console printing. This change allows users to capture and handle log messages in custom ways.

Introduces a callback-based logging system with LogRecord structure
Refactors existing print functions to use templates and std::string instead of C-style variadic arguments
Replaces deprecated static member variables with static getter functions

Reviewed Changes

Copilot reviewed 14 out of 14 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
common/include/pcl/console/print.h	Adds Logger class with callback support and converts print functions to templates
common/src/print.cpp	Implements Logger singleton and callback-based printing logic
test/common/test_console.cpp	New test file for validating logging functionality and callback behavior
test/common/CMakeLists.txt	Adds test registration for console testing
sample_consensus/include/pcl/sample_consensus/sac_model.h	Replaces deprecated static member with getter function
octree/include/pcl/octree/octree_key.h	Replaces deprecated static member with getter function
octree/include/pcl/octree/impl/octree_pointcloud.hpp	Updates to use new getter function
octree/include/pcl/octree/impl/octree_base.hpp	Updates to use new getter function and adds missing includes
octree/include/pcl/octree/impl/octree2buf_base.hpp	Updates to use new getter function
octree/src/octree_inst.cpp	Adds missing include for octree_key.h
octree/include/pcl/octree/octree_impl.h	Removes redundant include
tools/train_linemod_template.cpp	Updates print calls to use std::string instead of .c_str()
examples/segmentation/example_lccp_segmentation.cpp	Simplifies logging by removing stringstream usage
examples/segmentation/example_cpc_segmentation.cpp	Simplifies logging by removing stringstream usage

common/include/pcl/console/print.h

sample_consensus/include/pcl/sample_consensus/sac_model.h

test/common/test_console.cpp

common/include/pcl/console/print.h

…cation notice.

…t logging to console

mvieth

Sorry for the delay, here is another round of review comments. I will try to further analyze, where string copying and allocations happen, as soon as I can.

mvieth · 2026-01-04T16:54:41Z

common/include/pcl/console/print.h

+      std::string message;
+    };
+
+    class LogRecorder {


Maybe add some documentation to this class? E.g. what is the purpose?

Actually, is there any benefit in having the LogRecorder class? Why not use std::stringstream directly?

mvieth · 2026-01-04T16:58:24Z

common/include/pcl/console/print.h

+
+    class LogRecorder {
+    public:
+      LogRecorder(std::string& string) : strstream(string) { }


Perhaps it makes sense to have a default value (""), or add an additional constructor without any parameter?

mvieth · 2026-01-04T16:59:04Z

common/include/pcl/console/print.h

-    PCL_EXPORTS void 
-    print_color (FILE *stream, int attr, int fg, const char *format, ...);
+
+    class PCL_EXPORTS Logger {


Documentation, e.g. what is the purpose of this class?

mvieth · 2026-01-04T17:17:00Z

common/include/pcl/console/print.h

      L_VERBOSE
    };

+    struct LogRecord {


Maybe it makes sense to add a constructor where one can move a string in? Something like LogRecord(VERBOSITY_LEVEL lvl, std::string&& str)? Could be useful in the other methods to avoid copying

mvieth · 2026-01-04T17:23:43Z

common/include/pcl/console/print.h

+    void
+    print(VERBOSITY_LEVEL level, const std::string format, Args&&... args)
+    {
+      const auto str = to_string(format, std::forward<Args>(args)...);


Could it make sense to test isVerbosityLevelEnabled before calling the potentially expensive to_string?

mvieth · 2026-01-04T18:58:45Z

common/include/pcl/console/print.h

+  if(pcl::console::isVerbosityLevelEnabled(pcl::console::LEVEL)) \
+  { \
+    pcl::console::LogRecord entry{pcl::console::LEVEL, ""}; \
+    pcl::console::LogRecorder rec(entry.message); \


Does not work currently, changes to rec do not modify entry

larshg force-pushed the addconsoleredirect branch 10 times, most recently from a544354 to 9eb28fc Compare March 1, 2025 21:13

larshg force-pushed the addconsoleredirect branch 2 times, most recently from 6d1d0a4 to 44320b0 Compare March 2, 2025 19:44

larshg force-pushed the addconsoleredirect branch from 05b6bfa to a376418 Compare March 3, 2025 08:20

mvieth mentioned this pull request Mar 3, 2025

[console] How can I redirect the log output? #5589

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roncapat reviewed Mar 3, 2025

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mvieth reviewed Mar 22, 2025

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octree/include/pcl/octree/octree_key.h Show resolved Hide resolved

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larshg force-pushed the addconsoleredirect branch 2 times, most recently from 448c188 to 746959d Compare March 25, 2025 15:53

larshg added this to the pcl-1.16.0 milestone Mar 26, 2025

larshg requested a review from Copilot March 26, 2025 18:18

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larshg requested a review from Copilot August 9, 2025 16:41

Copilot AI reviewed Aug 9, 2025

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larshg added 15 commits December 1, 2025 11:07

Added the ability to redirect logging to a callable.

34a715a

Use formatted string instead of temporary stringstream.

c124eae

Add includes.

e2330a3

cleanup

b4af210

Test for undefined symbol.

ec488bf

Fix copy paste error.

991a563

Fix ODR of OctreeKey::maxdepth.

760eb91

Remove unnecessary c_str().

1fa1464

Wrap static member variables in a getter method.

8ad043f

Add wrapper function for easier setting the callback.

40c9566

Address parsing in the string from the LogRecord to reduce copying.

12ca114

Revert removal of c_str()

36966b2

Revert direct removal of the two static variables, but added deprecre…

43330ac

…cation notice.

Added more documentation for usage of the setCallback and how to rese…

654de2d

…t logging to console

Fix missing field in initializer

6f2972b

larshg force-pushed the addconsoleredirect branch from 3169df7 to 1f224bc Compare December 1, 2025 10:08

Address suggestions from copilot.

1186310

larshg force-pushed the addconsoleredirect branch from 1f224bc to 1186310 Compare December 1, 2025 10:19

larshg requested a review from mvieth December 1, 2025 22:13

mvieth reviewed Jan 4, 2026

View reviewed changes

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Added the ability to redirect logging to a callable. #6244

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Added the ability to redirect logging to a callable. #6244

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