ICP_LibPointmatcher.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/ICP.h>
#include <mp2p_icp/IterTermReason.h>
#include <mp2p_icp/Parameters.h>
#include <mp2p_icp/Results.h>
#include <mp2p_icp/metricmap.h>
#include <mrpt/rtti/CObject.h>
 
#include <vector>
 
namespace mp2p_icp
{
class ICP_LibPointmatcher : public ICP
{
    DEFINE_MRPT_OBJECT(ICP_LibPointmatcher, mp2p_icp)
 
   public:
    void initialize_derived(const mrpt::containers::yaml& params) override;
 
    void align(
        const metric_map_t& pcLocal, const metric_map_t& pcGlobal,
        const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
        const Parameters& p, Results& result,
        const std::optional<mrpt::poses::CPose3DPDFGaussianInf>& prior =
            std::nullopt,
        const mrpt::optional_ref<LogRecord>& outputDebugInfo =
            std::nullopt) override;
 
    struct ParametersLibpointmatcher
    {
        double       RandomSamplingDataPointsFilter_prob = 1.0;
        unsigned int SurfaceNormalDataPointsFilter_knn   = 10;
        unsigned int KDTreeMatcher_knn                   = 1;
        std::string  outlierFilter = "VarTrimmedDistOutlierFilter";
        std::map<std::string, double> outlierParams = {
            {"minRatio", 0.05},
            {"maxRatio", 0.95},
            {"lambda", 2.35},
        };
        std::string errorMinimizer = "PointToPlaneErrorMinimizer";
    };
 
    ParametersLibpointmatcher parametersLibpointmatcher;
 
    static bool methodAvailable();
 
   private:
    std::string pm_icp_yaml_settings_;
#if defined(MP2P_HAS_LIBPOINTMATCHER)
 
#endif
};
}  // namespace mp2p_icp