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

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