Residual error does not take into account outliers

https://github.com/biorobotics/bingham_registration/blob/8057e31631727019b23150f2e880dd919e928092/src/registration_estimation.cpp#L129

Start at src/registration_estimation.cpp:129 and inspect the residual-error calculation and its surrounding registration logic. Trace how outliers are represented and handled, then determine the expected residual behavior for them. Done means the residual error accounts for outliers and the relevant behavior is covered by the project's existing validation or tests, if available.

Written by the indexing model from the issue text.