Merge main into new API

[cicm4]

What changed

Describe the behavior and repository area changed.

Verification

• Commands and results:
• Python, OS, GPU/hardware:
• Input and output fixture/artifact:

Safety checklist

• Tests cover success, empty input, and relevant failure paths.
• Optional dependencies remain optional and have actionable errors.
• Wheel/sdist boundaries are unchanged or their exact checks were updated.
• THIRD_PARTY.md was updated for copied code, data, models, papers, media, binaries, or submodules.
• No credentials, private captures, generated outputs, or local datasets were added.
• Documentation and status claims match verified behavior.

Remaining limitations

State the smallest useful follow-up.

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[blacksmith-sh]

Found 5 test failures on Blacksmith runners:

Failures

Test	View Logs
test_notebook_depth_example_reconstructs_real_geometry	View Logs
test_reconstruct_depth_planes_preserves_motion_units_and_camera_pose	View Logs
test_reconstruct_scales_depth_before_float32_conversion[1e+50]	View Logs
test_reconstruct_scales_depth_before_float32_conversion[1e-50]	View Logs
test_reconstruct_two_cameras_and_empty_depth	View Logs

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