Parameters.h

Go to the documentation of this file.

/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */

#pragma once

#include <mp2p_icp/WeightParameters.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/core/bits_math.h>  // DEG2RAD()
#include <mrpt/serialization/CSerializable.h>

#include <cstddef>
#include <cstdint>
#include <map>
#include <string>

namespace mp2p_icp
{
struct Parameters : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(Parameters, mp2p_icp)

   public:
    uint32_t maxIterations{40};

    double minAbsStep_trans{5e-4};

    double minAbsStep_rot{1e-4};
    bool generateDebugFiles = false;

    std::string debugFileNameFormat =
        "icp-run-$UNIQUE_ID-local-$LOCAL_ID$LOCAL_LABEL-"
        "global-$GLOBAL_ID$GLOBAL_LABEL.icplog";

    bool debugPrintIterationProgress = false;

    void load_from(const mrpt::containers::yaml& p);
    void save_to(mrpt::containers::yaml& p) const;
};

}  // namespace mp2p_icp