2026-07-23 07:33:15 +00:00
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#pragma once
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#include "vde/core/point.h"
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#include "vde/core/transform.h"
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#include <vector>
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namespace vde::core {
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2026-07-23 08:19:24 +00:00
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using foundation::Point2D;
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using foundation::Point3D;
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using foundation::Vector2D;
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using foundation::Vector3D;
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2026-07-23 07:33:15 +00:00
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struct ICPResult {
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Transform3D transform; // Rigid transform aligning source to target
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double rms_error; // Root-mean-square error
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int iterations; // Number of iterations used
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bool converged;
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};
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/// Iterative Closest Point (ICP) for rigid point cloud registration
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/// @param source Source point cloud (moved)
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/// @param target Target point cloud (fixed)
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/// @param max_iter Maximum iterations
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/// @param tolerance Convergence tolerance on RMS change
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[[nodiscard]] ICPResult icp_register(const std::vector<Point3D>& source,
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const std::vector<Point3D>& target,
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int max_iter = 50,
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double tolerance = 1e-6);
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} // namespace vde::core
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