Results.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 <mrpt/poses/CPose3DPDFGaussian.h>
 
#include <cstdint>
#include <iosfwd>
 
#include "IterTermReason.h"
 
namespace mp2p_icp
{
struct Results
{
    mrpt::poses::CPose3DPDFGaussian optimal_tf;
 
    double optimalScale = 1.0;
 
    size_t nIterations = 0;
 
    IterTermReason terminationReason{IterTermReason::Undefined};
 
    double quality = 0;
 
    Pairings finalPairings;
 
    void serializeTo(mrpt::serialization::CArchive& out) const;
    void serializeFrom(mrpt::serialization::CArchive& in);
 
    void print(std::ostream& o) const;
};
 
mrpt::serialization::CArchive& operator<<(
    mrpt::serialization::CArchive& out, const Results& obj);
 
mrpt::serialization::CArchive& operator>>(
    mrpt::serialization::CArchive& in, Results& obj);
 
}  // namespace mp2p_icp