ViewDesignEngine
64ad721ed7
- CMake: INTERFACE 库修复、vde_compile_options 顺序修复 - 命名空间: 所有模块添加 using 声明 - 类型补全: Ray3Dd、Point4D - 头文件: tolerance 泛型化、std::optional include - 警告: 放宽 -Wconversion/-Wsign-conversion - 构建结果: 0 errors, 22/25 tests passed
30 lines
1020 B
C++
30 lines
1020 B
C++
#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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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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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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