WeightParameters.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/PairWeights.h>
#include <mp2p_icp/robust_kernels.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>
 
namespace mp2p_icp
{
struct WeightParameters : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(WeightParameters, mp2p_icp)
 
   public:
    bool use_scale_outlier_detector = false;
 
    double scale_outlier_threshold{1.20};
 
    PairWeights pair_weights;
 
    RobustKernel robust_kernel = RobustKernel::None;
 
    std::optional<mrpt::poses::CPose3D> currentEstimateForRobust;
 
    double robust_kernel_param = 1.0;
 
    void load_from(const mrpt::containers::yaml& p);
    void save_to(mrpt::containers::yaml& p) const;
};
 
}  // namespace mp2p_icp