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fix: normalize ICP2d's returned transform to exact orthonormality #557

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Run time

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Job	Run time
unittest (windows-latest, 3.13)	1m 23s
unittest (macos-latest, 3.11)	39s
unittest (macos-latest, 3.10)	1m 11s
unittest (ubuntu-22.04, 3.12)	39s
unittest (ubuntu-22.04, 3.11)	41s
unittest (macos-latest, 3.13)	47s
unittest (macos-latest, 3.12)	55s
unittest (ubuntu-22.04, 3.13)	47s
unittest (ubuntu-22.04, 3.10)	40s
unittest (windows-latest, 3.10)	1m 13s
codecov	55s
all-unittests-passed	4s
sphinx / sphinx	-1s
	9m 53s