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feat: implement ICP registration for ground plane refinement and add tests

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crosstyan
2026-02-10 03:04:43 +00:00
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commit 206c6e58ee
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py_workspace/.sisyphus/notepads/icp-registration/learnings.md
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- When monkeypatching for tests, ensure all internal calls are accounted for, especially when production code has bugs that need to be worked around or highlighted.
- Integrated ICP refinement into `refine_ground_plane.py` CLI, enabling optional global registration after ground plane alignment.
- Added `_meta.icp_refined` block to output JSON to track ICP configuration and success metrics.
## ICP Registration
- GICP method in requires normals, which are estimated internally if not provided.
- Synthetic tests for ICP should use deterministic seeds for point cloud generation to ensure stability.
## ICP Registration
- GICP method in `pairwise_icp` requires normals, which are estimated internally if not provided.
- Synthetic tests for ICP should use deterministic seeds for point cloud generation to ensure stability.