frame_pair_icp.hpp

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// SPDX-FileCopyrightText: 2026 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
// Depth-cloud ICP between two stored sensor frames (#465): the "refine" of a
// pose-graph link. Both the web GUI's POST /api/v1/posegraph/icp (through the
// app's IcpRefineFn) and the Qt client's pair strip call this, so the two
// surfaces report the same numbers for the same pair.
 
#include <array>
 
namespace reusex {
class ProjectDB;
}
 
namespace reusex::slam {

struct FramePairIcpOptions {
  int pixel_step = 4;                
  float min_depth_m = 0.3f;          
  float max_depth_m = 4.0f;          
  int max_iterations = 50;           
  double max_correspondence_m = 0.5; 
  float inlier_threshold_m = 0.05f;  
};
 
struct FramePairIcpResult {
  std::array<double, 16> relative_pose{1, 0, 0, 0, 0, 1, 0, 0,
                                       0, 0, 1, 0, 0, 0, 0, 1};

  std::array<double, 16> world_delta{1, 0, 0, 0, 0, 1, 0, 0,
                                     0, 0, 1, 0, 0, 0, 0, 1};

  double source_center_shift_m = 0.0;
  double rotation_deg = 0.0;
  double fitness = 0.0;         
  double inlier_fraction = 0.0; 
  bool converged = false;
  int source_points = 0; 
  int target_points = 0; 
};

FramePairIcpResult refine_frame_pair_icp(const ProjectDB &db, int from_id,
                                         int to_id,
                                         const FramePairIcpOptions &opts = {});
 
} // namespace reusex::slam