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/uv.lock

@@ -190,6 +190,18 @@ wheels = [
     { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/77/f5/21d2de20e8b8b0408f0681956ca2c69f1320a3848ac50e6e7f39c6159675/babel-2.18.0-py3-none-any.whl", hash = "sha256:e2b422b277c2b9a9630c1d7903c2a00d0830c409c59ac8cae9081c92f1aeba35", size = 10196845, upload-time = "2026-02-01T12:30:53.445Z" },
 ]
 
+[[package]]
+name = "basedpyright"
+version = "1.37.4"
+source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }
+dependencies = [
+    { name = "nodejs-wheel-binaries" },
+]
+sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/5a/15/8f335ed50b5fed4d7587e293c200bb498049f4a74d9913c58c26a42d3503/basedpyright-1.37.4.tar.gz", hash = "sha256:f818d8b56c1e7f639dfbdaf875aa6b0bd53eef08204389959027d3d7fb2017ed", size = 25238593, upload-time = "2026-02-04T02:57:15.893Z" }
+wheels = [
+    { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/20/b6/f075ecdc60a3e389c32934a98171b7f5c6f12250fc0030e12efc1102a557/basedpyright-1.37.4-py3-none-any.whl", hash = "sha256:bcf61d7d8dbd4570f346008fa591585bd605ce47a0561509899c276f2e53a450", size = 12299643, upload-time = "2026-02-04T02:57:19.915Z" },
+]
+
 [[package]]
 name = "beautifulsoup4"
 version = "4.14.3"
@@ -495,6 +507,7 @@ dependencies = [
 
 [package.dev-dependencies]
 dev = [
+    { name = "basedpyright" },
     { name = "pytest" },
 ]
 
@@ -518,7 +531,10 @@ requires-dist = [
 ]
 
 [package.metadata.requires-dev]
-dev = [{ name = "pytest", specifier = ">=9.0.2" }]
+dev = [
+    { name = "basedpyright", specifier = ">=1.37.4" },
+    { name = "pytest", specifier = ">=9.0.2" },
+]
 
 [[package]]
 name = "executing"
@@ -1117,6 +1133,22 @@ wheels = [
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 ]
 
+[[package]]
+name = "nodejs-wheel-binaries"
+version = "24.13.0"
+source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }
+sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/b7/f1/73182280e2c05f49a7c2c8dbd46144efe3f74f03f798fb90da67b4a93bbf/nodejs_wheel_binaries-24.13.0.tar.gz", hash = "sha256:766aed076e900061b83d3e76ad48bfec32a035ef0d41bd09c55e832eb93ef7a4", size = 8056, upload-time = "2026-01-14T11:05:33.653Z" }
+wheels = [
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+]
+
 [[package]]
 name = "notebook-shim"
 version = "0.2.4"