2 Commits

Author	SHA1	Message	Date
crosstyan	ead3796cdb	feat(refine): replace L-BFGS-B MSE with least_squares soft-L1 robust optimizer	2026-02-07 05:23:28 +00:00
crosstyan	6d3c5cc5c1	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	2026-02-05 04:44:34 +00:00