uint8_t loc_gauss_newton(uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], vector_t start_pos[3], matrix_t measured_data_vec[ref_points_num], matrix_t eps, matrix_t fmin, uint8_t max_iter_num, vector_t est_pos[3], void(*f_i)(uint8_t ref_point_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]))
Implements the modified Gauss–Newton algorithm.