Results.cpp

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/* -------------------------------------------------------------------------
 *  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.
 * ------------------------------------------------------------------------- */

#include <mp2p_icp/Results.h>
#include <mrpt/serialization/CArchive.h>

#include <ostream>

using namespace mp2p_icp;

static const uint8_t SERIALIZATION_VERSION = 0;

void Results::serializeTo(mrpt::serialization::CArchive& out) const
{
    out.WriteAs<uint8_t>(SERIALIZATION_VERSION);
    out << optimal_tf << optimalScale << nIterations;
    out << static_cast<uint8_t>(terminationReason);
    out << quality;
    finalPairings.serializeTo(out);
}
void Results::serializeFrom(mrpt::serialization::CArchive& in)
{
    const auto readVersion = in.ReadAs<uint8_t>();

    ASSERT_EQUAL_(readVersion, SERIALIZATION_VERSION);

    in >> optimal_tf >> optimalScale >> nIterations;
    terminationReason = static_cast<IterTermReason>(in.ReadAs<uint8_t>());
    in >> quality;
    finalPairings.serializeFrom(in);
}

mrpt::serialization::CArchive& mp2p_icp::operator<<(
    mrpt::serialization::CArchive& out, const Results& obj)
{
    obj.serializeTo(out);
    return out;
}

mrpt::serialization::CArchive& mp2p_icp::operator>>(
    mrpt::serialization::CArchive& in, Results& obj)
{
    obj.serializeFrom(in);
    return in;
}

void Results::print(std::ostream& o) const
{
    o << "- optimalPoseLocalWrtGlobal: " << optimal_tf.mean
      << "\n"
         "- quality: "
      << 100 * quality
      << " %\n"
         "- iterations: "
      << nIterations
      << "\n"
         "- terminationReason: "
      << mrpt::typemeta::TEnumType<mp2p_icp::IterTermReason>::value2name(
             terminationReason)
      << "\n"
      << "- finalPairings: " << finalPairings.contents_summary() << "\n";
}