test-mp2p_matcher_pt2pt_parameterizable.cpp

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
 
#include <mp2p_icp/Matcher_Points_DistanceThreshold.h>
 
int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv)
{
    try
    {
        {
            mp2p_icp::Matcher_Points_DistanceThreshold m;
            mrpt::containers::yaml                     p;
            p["threshold"] = "MATCH_THRESHOLD*2.0";  // Define as an expr.
            p["thresholdAngularDeg"] = .0;
 
            m.initialize(p);
 
            mp2p_icp::ParameterSource globalParams;
            globalParams.attach(m);
 
            // v1:
            globalParams.updateVariable("MATCH_THRESHOLD", 1.5);
            globalParams.realize();
 
            ASSERT_NEAR_(m.threshold, 3.0, 1e-4);
            ASSERT_NEAR_(m.thresholdAngularDeg, .0, 1e-4);
 
            // v2:
            globalParams.updateVariable("MATCH_THRESHOLD", 0.5);
            globalParams.realize();
 
            ASSERT_NEAR_(m.threshold, 1.0, 1e-4);
            ASSERT_NEAR_(m.thresholdAngularDeg, .0, 1e-4);
        }
    }
    catch (std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e) << "\n";
        return 1;
    }
}