feat(rgbd): add RGB-D reconstruction pipeline

Add end-to-end RGB-D reconstruction support across the C++ core and Python API.

- add a native merge_rgbd_views path, view-aware 3D pose containers, and nanobind bindings

- expose Python helpers to sample aligned depth, apply per-joint offsets, lift UVD poses to world space, and run reconstruct_rgbd

- add RGB-D regression tests for merging, manual pipeline parity, symmetric depth sampling windows, and out-of-bounds joints

- bump the project version from 0.1.0 to 0.2.0 for the new feature surface

bindings/rpt_module.cpp

@@ -23,6 +23,8 @@ using CountArray = nb::ndarray<nb::numpy, const uint32_t, nb::shape<-1>, nb::c_c
 using TrackIdArray = nb::ndarray<nb::numpy, const int64_t, nb::shape<-1>, nb::c_contig>;
 using PoseArray3DConst =
     nb::ndarray<nb::numpy, const float, nb::shape<-1, -1, 4>, nb::c_contig>;
+using PoseArray3DByViewConst =
+    nb::ndarray<nb::numpy, const float, nb::shape<-1, -1, -1, 4>, nb::c_contig>;
 using PoseArray3D = nb::ndarray<nb::numpy, float, nb::shape<-1, -1, 4>, nb::c_contig>;
 using PoseArray2DOut = nb::ndarray<nb::numpy, float, nb::shape<-1, 4>, nb::c_contig>;
 
@@ -59,6 +61,32 @@ PoseBatch3DView pose_batch3d_view_from_numpy(const PoseArray3DConst &poses_3d)
     };
 }
 
+PoseBatch3DByViewView pose_batch3d_by_view_from_numpy(
+    const PoseArray3DByViewConst &poses_3d,
+    const CountArray &person_counts)
+{
+    if (poses_3d.shape(0) != person_counts.shape(0))
+    {
+        throw std::invalid_argument("poses_3d and person_counts must have the same number of views.");
+    }
+
+    for (size_t i = 0; i < static_cast<size_t>(person_counts.shape(0)); ++i)
+    {
+        if (person_counts(i) > poses_3d.shape(1))
+        {
+            throw std::invalid_argument("person_counts entries must not exceed the padded person dimension.");
+        }
+    }
+
+    return PoseBatch3DByViewView {
+        poses_3d.data(),
+        person_counts.data(),
+        static_cast<size_t>(poses_3d.shape(0)),
+        static_cast<size_t>(poses_3d.shape(1)),
+        static_cast<size_t>(poses_3d.shape(2)),
+    };
+}
+
 TrackedPoseBatch3DView tracked_pose_batch_view_from_numpy(
     const PoseArray3DConst &poses_3d,
     const TrackIdArray &track_ids)
@@ -432,6 +460,24 @@ NB_MODULE(_core, m)
         "person_counts"_a,
         "config"_a);
 
+    m.def(
+        "merge_rgbd_views",
+        [](const PoseArray3DByViewConst &poses_3d,
+           const CountArray &person_counts,
+           const TriangulationConfig &config,
+           float max_distance)
+        {
+            const PoseBatch3D merged = merge_rgbd_views(
+                pose_batch3d_by_view_from_numpy(poses_3d, person_counts),
+                config,
+                max_distance);
+            return pose_batch_to_numpy(merged);
+        },
+        "poses_3d"_a,
+        "person_counts"_a,
+        "config"_a,
+        "max_distance"_a = 0.5f);
+
     m.def(
         "triangulate_with_report",
         [](const PoseArray2D &poses_2d,