icp.h

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#pragma once
#include "vde/core/point.h"
#include "vde/core/transform.h"
#include <vector>
 
namespace vde::core {
using foundation::Point2D;
using foundation::Point3D;
using foundation::Vector2D;
using foundation::Vector3D;
 
struct ICPResult {
    Transform3D transform;
 
    double rms_error;
 
    int iterations;
 
    bool converged;
};
 
[[nodiscard]] ICPResult icp_register(const std::vector<Point3D>& source,
                                     const std::vector<Point3D>& target,
                                     int max_iter = 50,
                                     double tolerance = 1e-6);
 
}  // namespace vde::core