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chore(icp): relax ICPConfig defaults per Oracle recommendations

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crosstyan
2026-02-10 16:44:13 +00:00
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commit 7bdc5d6024
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py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md
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- `test_compute_fpfh_features`: Validates feature dimension and count.
- `test_global_registration_known_transform`: Confirms RANSAC can recover a known large transform (30 deg rotation).
- `test_refine_with_icp_global_init_success`: End-to-end test showing global init can recover from a very bad initial guess (90 deg error) where local ICP would fail.
## Task 8: Relax ICPConfig defaults
- Relaxed defaults for ICPConfig to improve convergence and allow more flexible corrections.
- New defaults:
- min_fitness: 0.15
- min_overlap_area: 0.5
- gravity_penalty_weight: 2.0
- max_correspondence_distance_factor: 2.5
- max_translation_m: 0.3
- max_rotation_deg: 10.0
- Verified with 36 passing tests and clean basedpyright (0 errors, though many warnings due to missing stubs).