Add degeneracy detection and solution remapping in align() - #6

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AkshayHinduja wants to merge 13 commits into

scomup:mainfrom

AkshayHinduja:upstream-pr

Commits on Aug 11, 2026

ci: test the checked-out package, not the PyPI release
AkshayHinduja
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cb29b59
fix: repair the no_parallel reference implementations (masking, gating)
AkshayHinduja
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9fa5f34
fix: ICP fast-path rotational gradient
AkshayHinduja
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cb29002
fix: retraction-consistent (body-frame) Jacobians in all solvers
AkshayHinduja
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0f7c7b5
fix: second-order small-angle branch in expSO3
AkshayHinduja
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fed2f13
fix: align() must not alias init_T
AkshayHinduja
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ffd2088
feat: expose last_hessian; recompute it when max_iter is exhausted
AkshayHinduja
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9cf0b7c
feat: degeneracy analysis module (solution remapping)
AkshayHinduja
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67bd62b
feat: solution remapping + optional LM damping in align()
AkshayHinduja
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ae69f7a
feat: VoxelGrid cov_reg + explicit empty-grid error; thread min_points/cov_reg through VPlaneICP/NDT
AkshayHinduja
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9f267a5
data: synthetic degenerate clouds (staircase, flat plane) + generator
AkshayHinduja
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0a01a37
demo: matplotlib demo of degeneracy detection + solution remapping
AkshayHinduja
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16b31a6
docs: correct the world-frame Hessian note and dependency wording
AkshayHinduja
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54c70e1