Add partitioned SO(3) product particle filter

[FlorianPfaff]

Summary

• Add PartitionedSO3ProductParticleFilter, a generic SO(3)^K particle filter with independent block weights and block-wise systematic resampling.
• Support global, singleton, and explicit component-index partitions without SMPL- or pose-specific assumptions.
• Export the new filter from pyrecest.filters and add focused tests for partition validation, block likelihood updates, hybrid block resampling, and component likelihood updates.

Notes

• This is intended as the generic PyRecEst backend counterpart to the SO3-Pose-Filter block particle filter.
• The inherited compatibility weights remain available as the normalized average of block weights; means and ESS use block-specific weights.

Tests

• Not run in this connector environment.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	14.66s
✅ JSON	prettier	2	0	0	0	0.41s
✅ JSON	v8r	2		0	0	2.3s
✅ MARKDOWN	markdownlint	28	0	0	0	1.29s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.38s
✅ PYTHON	bandit	493		0	0	6.95s
✅ PYTHON	black	493	4	0	0	10.55s
✅ PYTHON	flake8	493		0	0	3.85s
✅ PYTHON	isort	493	4	0	0	0.88s
✅ PYTHON	mypy	493		0	0	5.58s
✅ PYTHON	pylint	493		0	0	105.53s
✅ PYTHON	ruff	493	4	0	0	0.09s
✅ REPOSITORY	checkov	yes		no	no	22.07s
✅ REPOSITORY	gitleaks	yes		no	no	12.08s
✅ REPOSITORY	git_diff	yes		no	no	0.07s
✅ REPOSITORY	secretlint	yes		no	no	8.59s
✅ REPOSITORY	syft	yes		no	no	3.36s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.22s
✅ REPOSITORY	trufflehog	yes		no	no	20.68s
✅ YAML	prettier	5	0	0	0	0.49s
✅ YAML	v8r	5		0	0	5.26s
✅ YAML	yamllint	5		0	0	0.5s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   2h 14m 5s ⏱️ - 7m 19s
 1 431 tests + 5   1 431 ✅ + 5      0 💤 ±0  0 ❌ ±0 
17 632 runs  +60  13 952 ✅ +60  3 680 💤 ±0  0 ❌ ±0 

Results for commit 247698c. ± Comparison against base commit d04f847.

♻️ This comment has been updated with latest results.