#pragma once
#include "vde/core/point.h"
#include "vde/core/transform.h"
#include <vector>

namespace vde::core {

struct ICPResult {
    Transform3D transform;    // Rigid transform aligning source to target
    double rms_error;         // Root-mean-square error
    int iterations;           // Number of iterations used
    bool converged;
};

/// Iterative Closest Point (ICP) for rigid point cloud registration
/// @param source      Source point cloud (moved)
/// @param target      Target point cloud (fixed)
/// @param max_iter    Maximum iterations
/// @param tolerance   Convergence tolerance on RMS change
[[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