QualityEvaluator_PairedRatio.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/Matcher_Points_DistanceThreshold.h>
#include <mp2p_icp/QualityEvaluator.h>
 
namespace mp2p_icp
{
class QualityEvaluator_PairedRatio : public QualityEvaluator
{
    DEFINE_MRPT_OBJECT(QualityEvaluator_PairedRatio, mp2p_icp)
 
   public:
    void initialize(const mrpt::containers::yaml& params) override;
 
    Result evaluate(
        const metric_map_t& pcGlobal, const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings&             pairingsFromICP) const override;
 
    void attachToParameterSource(ParameterSource& source) override
    {
        source.attach(*this);
        source.attach(matcher_);
    }
 
   private:
    Matcher_Points_DistanceThreshold matcher_;
    bool                             reuse_icp_pairings = true;
 
    double absolute_minimum_pairing_ratio = 0.20;
};
 
}  // namespace mp2p_icp