Parameters.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/WeightParameters.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/core/bits_math.h>  // DEG2RAD()
#include <mrpt/serialization/CSerializable.h>
 
#include <cstdint>
#include <functional>
#include <string>
 
namespace mp2p_icp
{
class metric_map_t;  // Frwd decl
 
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;
 
    bool saveIterationDetails = false;
 
    uint32_t decimationIterationDetails = 10;
 
    uint32_t decimationDebugFiles = 1;
 
    std::string debugFileNameFormat =
        "icp-run-$UNIQUE_ID-local-$LOCAL_ID$LOCAL_LABEL-"
        "global-$GLOBAL_ID$GLOBAL_LABEL.icplog";
 
    std::function<void(mp2p_icp::metric_map_t&)> functor_before_logging_local,
        functor_before_logging_global;
 
    bool debugPrintIterationProgress = false;
 
    std::map<uint32_t, double> quality_checkpoints = {
        {50U, 0.05}, {100U, 0.10}};
 
    void load_from(const mrpt::containers::yaml& p);
    void save_to(mrpt::containers::yaml& p) const;
};
 
}  // namespace mp2p_icp