feat(cli): add depth verify/refine outputs and tests

- Retrieve depth + confidence measures from SVOReader when depth enabled
- Compute depth residual metrics and attach to output JSON
- Optionally write per-corner residual CSV via --report-csv
- Post-process refinement: optimize final pose and report pre/post metrics
- Add unit tests for depth verification and refinement modules
- Add basedpyright dev dependency for diagnostics

py_workspace/.sisyphus/plans/depth-extrinsic-verify.md

@@ -531,7 +531,7 @@ Critical Path: Task 1 → Task 2 → Task 4 → Task 5 → Task 6
 
 ---
 
-- [ ] 6. Integrate refinement into CLI workflow
+- [x] 6. Integrate refinement into CLI workflow
 
   **What to do**:
   - Modify `py_workspace/calibrate_extrinsics.py`
@@ -602,7 +602,7 @@ Critical Path: Task 1 → Task 2 → Task 4 → Task 5 → Task 6
 
 ---
 
-- [ ] 7. Add unit tests for depth modules
+- [x] 7. Add unit tests for depth modules
 
   **What to do**:
   - Create `py_workspace/tests/test_depth_verify.py`