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Pull back our public headers #9

@gadomski

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@gadomski

Right now all of our headers are public (in our include/ folder). We should pull back stuff like debug.hpp and find_P.hpp, while keeping headers that might be useful to the general public.

As a bonus level, consider removing the cpd::registration namespace. It's all about the registration, baby, and the extra typing is a bit of a pain.

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