mp2p_icp/src/Matcher.cpp

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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.
 * ------------------------------------------------------------------------- */
#include <mp2p_icp/Matcher.h>
#include <mrpt/core/exceptions.h>
 
IMPLEMENTS_VIRTUAL_MRPT_OBJECT(Matcher, mrpt::rtti::CObject, mp2p_icp)
 
using namespace mp2p_icp;
 
void Matcher::initialize(const mrpt::containers::yaml& params)
{
    MCP_LOAD_OPT(params, runFromIteration);
    MCP_LOAD_OPT(params, runUpToIteration);
    MCP_LOAD_OPT(params, enabled);
}
 
bool Matcher::match(
    const metric_map_t& pcGlobal, const metric_map_t& pcLocal,
    const mrpt::poses::CPose3D& localPose, const MatchContext& mc, MatchState& ms,
    Pairings& out) const
{
    if (!enabled) return false;
    if (mc.icpIteration < runFromIteration) return false;
    if (runUpToIteration > 0 && mc.icpIteration > runUpToIteration) return false;
    return impl_match(pcGlobal, pcLocal, localPose, mc, ms, out);
}
 
Pairings mp2p_icp::run_matchers(
    const matcher_list_t& matchers, const metric_map_t& pcGlobal, const metric_map_t& pcLocal,
    const mrpt::poses::CPose3D& local_wrt_global, const MatchContext& mc,
    const mrpt::optional_ref<MatchState>& userProvidedMS)
{
    Pairings pairings;
 
    MatchState* ms = nullptr;
 
    std::optional<MatchState> localMS;
 
    if (userProvidedMS.has_value())
    {
        // Use user-provided memory storage:
        ms = &userProvidedMS.value().get();
    }
    else
    {
        // Reserve here:
        localMS.emplace(pcGlobal, pcLocal);
        ms = &localMS.value();
    }
 
    bool anyRun = false;
 
    for (const auto& matcher : matchers)
    {
        ASSERT_(matcher);
        Pairings pc;
        bool     hasRun = matcher->match(pcGlobal, pcLocal, local_wrt_global, mc, *ms, pc);
        anyRun          = anyRun || hasRun;
        pairings.push_back(pc);
    }
 
    if (!anyRun)
    {
        std::cerr << "[mp2p_icp::run_matchers] WARNING: No active matcher "
                     "actually ran on the two maps."
                  << std::endl;
    }
 
    return pairings;
}