feat(calibration): robust depth refinement pipeline with diagnostics and benchmarking

py_workspace/aruco/depth_verify.py

@@ -24,6 +24,18 @@ def project_point_to_pixel(P_cam: np.ndarray, K: np.ndarray):
     return u, v
 
 
+def get_confidence_weight(confidence: float, threshold: float = 100.0) -> float:
+    """
+    Convert ZED confidence value to a weight in [0, 1].
+    ZED semantics: 1 is most confident, 100 is least confident.
+    """
+    if not np.isfinite(confidence) or confidence < 0:
+        return 0.0
+    # Linear weight from 1.0 (at confidence=0) to 0.0 (at confidence=threshold)
+    weight = 1.0 - (confidence / threshold)
+    return float(np.clip(weight, 0.0, 1.0))
+
+
 def compute_depth_residual(
     P_world: np.ndarray,
     T_world_cam: np.ndarray,