sm2mm.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/metricmap.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/system/COutputLogger.h>
 
#include <string>
#include <utility>
#include <vector>
 
namespace mp2p_icp_filters
{
struct sm2mm_options_t
{
    sm2mm_options_t()  = default;
    ~sm2mm_options_t() = default;
 
    mrpt::system::VerbosityLevel                verbosity       = mrpt::system::LVL_INFO;
    bool                                        showProgressBar = false;
    std::vector<std::pair<std::string, double>> customVariables = {};
    std::optional<size_t>                       start_index;
    std::optional<size_t>                       end_index;
};
 
void simplemap_to_metricmap(
    const mrpt::maps::CSimpleMap& sm, mp2p_icp::metric_map_t& outMap,
    const mrpt::containers::yaml& pipeline, const sm2mm_options_t& options = {});
 
}  // namespace mp2p_icp_filters