WeightParameters.h

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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.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mp2p_icp/PairWeights.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;

    bool use_robust_kernel = false;

    std::optional<mrpt::poses::CPose3D> currentEstimateForRobust;

    double robust_kernel_param{mrpt::DEG2RAD(0.1)}, robust_kernel_scale{400.0};

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

}  // namespace mp2p_icp