Catch httpx.RequestError so DecodingError etc. trigger the bbox fallback
instead of propagating raw. Lock the intrinsics dict shape in the
happy-path test, drop unused imports.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Posts (rgb_png, depth_png, intrinsics, bbox) and returns (N,3) points in
meters in OpenCV RGB-camera frame. Normalises transport vs semantic errors
into Sam21Unavailable / Sam21Error.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The 2× focal-length collision test wasn't actually colliding (adjacent IR
pixels rounded to different RGB columns). 4× makes them collapse, so the
np.minimum.at reduce is now exercised. Also drop unused H_ir, W_ir.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Forward-project IR depth pixels into the RGB pixel grid with a z-buffer.
Output uint16 mm at RGB resolution, ready to feed SAM21.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
