## Notes
- Used `scipy.spatial.transform.Rotation` with `xyz` Euler convention for gravity regularization to ensure consistent blending of pitch/roll.
- `extract_near_floor_band` uses dot product with floor normal to handle arbitrary floor orientations (not just Y-up).
- `refine_with_icp` uses a BFS-based connectivity check to ensure only cameras reachable from the reference camera are optimized.

## Balanced SN442 Profile
- Decided to document a "Balanced Profile" in the README to provide a standard recovery path for cameras that fail strict ground plane alignment.
- Chose GICP over point-to-plane for the balanced profile due to its superior robustness with noisy ZED depth data in multi-camera setups.
- Set `--seed 42` in the recommended command to ensure deterministic results for users debugging their calibration.