QualityEvaluator.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/Pairings.h>
#include <mp2p_icp/Parameterizable.h>
#include <mp2p_icp/metricmap.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/rtti/CObject.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/version.h>
 
namespace mp2p_icp
{
class QualityEvaluator : public mrpt::system::COutputLogger,
                         public mrpt::rtti::CObject,
                         public mp2p_icp::Parameterizable
{
#if MRPT_VERSION < 0x020e00
    DEFINE_VIRTUAL_MRPT_OBJECT(QualityEvaluator)
#else
    DEFINE_VIRTUAL_MRPT_OBJECT(QualityEvaluator, mp2p_icp)
#endif
 
   public:
    struct Result
    {
        double quality = .0;
 
        bool hard_discard = false;
    };
 
    virtual void initialize(const mrpt::containers::yaml& params) = 0;
 
    virtual Result evaluate(
        const metric_map_t& pcGlobal, const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings&             pairingsFromICP) const = 0;
};
 
}  // namespace mp2p_icp