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[DO NOT MERGE] Integration: high priority #245

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b9c144d
fix: normalize ICP2d's returned transform to exact orthonormality
petercorke Aug 16, 2026
8c04681
fix: skip docs build/publish on pull_request, not just push
petercorke Sep 15, 2026
9600087
Fix Line3 distance for parallel and non-unit directions
Doribelove Sep 16, 2026
6a7a9e8
fix: require typing_extensions with Self support
Doribelove Sep 28, 2026
3580f02
fix: preserve small rotations in quaternion logarithms
dddd-jh Oct 6, 2026
c19495d
Fold latitude angles correctly across complete turns
xiehuanyi Oct 10, 2026
929784f
Make vector projections independent of direction scale
xiehuanyi Oct 10, 2026
9cca322
Preserve scaled quaternion rotations in logarithms
dddd-jh Oct 11, 2026
3b9b680
Merge PR #222: fix: skip docs build/publish on pull_request, not just…
Copilot Oct 11, 2026
667c6a0
Merge PR #204: fix: normalize ICP2d's returned transform to exact ort…
Copilot Oct 11, 2026
63055d3
Merge PR #224: Fix Line3 distance for parallel and non-unit directions
Copilot Oct 11, 2026
f2e0efa
Merge PR #233: Require typing_extensions with Self support on Python …
Copilot Oct 11, 2026
446f14b
Merge PR #237: fix: preserve small rotations in quaternion logarithms
Copilot Oct 11, 2026
7c1ca7a
Merge PR #241: Fold latitude angles correctly across complete turns
Copilot Oct 11, 2026
95818c8
Merge PR #242: Make vector projections independent of direction scale
Copilot Oct 11, 2026
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6 changes: 5 additions & 1 deletion spatialmath/base/transforms2d.py
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Expand Up @@ -1312,7 +1312,11 @@ def _FindCorrespondences(

num_iter += 1

return T
# T accumulates roundoff error through repeated composition
# (T = T @ new_T) over the iterations above, and can drift just
# outside ishom2()'s orthonormality tolerance -- restore exact
# orthonormality before returning.
return trnorm2(T)


if _matplotlib_exists:
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16 changes: 16 additions & 0 deletions tests/base/test_transforms2d.py
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Expand Up @@ -174,6 +174,22 @@ def test_icp2d(self):
T2 = ICP2d(p2, p1, T=xyt2tr([1, 2, 0.2]))
nt.assert_almost_equal(T, T2)

def test_icp2d_returns_valid_se2(self):
# noisy correspondences plus a forced iteration count accumulate
# roundoff error in the T = T @ new_T composition -- the result
# must still pass ishom2(check=True), ie. be exactly orthonormal.
# seed fixed: this configuration reliably triggers the drift.
np.random.seed(0)
p1 = np.random.uniform(size=(2, 30))
T = xyt2tr([1, 2, 0.2])

p2 = homtrans(T, p1) + np.random.normal(scale=0.01, size=(2, 30))
k = np.random.permutation(p2.shape[1])
p2 = p2[:, k]

T2 = ICP2d(p2, p1, max_iter=100, min_delta_err=0)
self.assertTrue(ishom2(T2, check=True))

def test_print2(self):
T = transl2(1, 2) @ trot2(0.3)

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