[AZ-662] [AZ-669] Implement ego-motion estimator and primitive graph

AZ-662: movement_detector ego-motion
- Add opencv + petgraph to workspace dependencies
- internal/zoom_bands: per-band telemetry skew tolerances
- internal/telemetry_sync: skew gate (check_skew)
- internal/optical_flow: frame→gray, degenerate detection,
  LK sparse flow + RANSAC homography estimation
- internal/ego_motion: EgoMotionEstimator + atomic counters

AZ-669: semantic_analyzer primitive graph
- internal/primitive_graph: NodeType, PrimitiveNode, PrimitiveGraph,
  PrimitiveGraphBuilder with proximity-adjacency + BFS connectivity check
- internal/scoring/freshness: FreshnessScorer (Laplacian variance,
  texture stddev, undisturbed-surroundings heuristic)
- All ACs covered by unit tests (AC-1/2/3 per task)

Note: native OpenCV not installed on macOS; authoritative test is
cargo test --workspace on Jetson (ssh jetson-e2e).

Co-authored-by: Cursor <cursoragent@cursor.com>

Cargo.lock

@@ -352,6 +352,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a1dce859f0832a7d088c4f1119888ab94ef4b5d6795d1ce05afb7fe159d79f98"
 dependencies = [
  "find-msvc-tools",
+ "jobserver",
+ "libc",
  "shlex",
 ]
 
@@ -388,6 +390,16 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "clang"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "84c044c781163c001b913cd018fc95a628c50d0d2dfea8bca77dad71edb16e37"
+dependencies = [
+ "clang-sys",
+ "libc",
+]
+
 [[package]]
 name = "clang-sys"
 version = "1.8.1"
@@ -600,6 +612,12 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "dunce"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "92773504d58c093f6de2459af4af33faa518c13451eb8f2b5698ed3d36e7c813"
+
 [[package]]
 name = "either"
 version = "1.15.0"
@@ -1287,6 +1305,16 @@ version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
 
+[[package]]
+name = "jobserver"
+version = "0.1.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9afb3de4395d6b3e67a780b6de64b51c978ecf11cb9a462c66be7d4ca9039d33"
+dependencies = [
+ "getrandom 0.3.4",
+ "libc",
+]
+
 [[package]]
 name = "js-sys"
 version = "0.3.98"
@@ -1549,6 +1577,7 @@ dependencies = [
 name = "movement_detector"
 version = "0.1.0"
 dependencies = [
+ "opencv",
  "shared",
  "tokio",
  "tracing",
@@ -1718,6 +1747,39 @@ version = "1.70.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe"
 
+[[package]]
+name = "opencv"
+version = "0.98.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c607a407be5ff2484f55d2eb289bffd01de84f962779b8470e76f035dd3563d"
+dependencies = [
+ "cc",
+ "dunce",
+ "jobserver",
+ "libc",
+ "num-traits",
+ "opencv-binding-generator",
+ "pkg-config",
+ "semver",
+ "shlex",
+ "vcpkg",
+ "windows",
+]
+
+[[package]]
+name = "opencv-binding-generator"
+version = "0.101.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "833f00c6deee8dd615249af42fa35ff030c5c73ee3c13e44baf1135a4d57af86"
+dependencies = [
+ "clang",
+ "clang-sys",
+ "dunce",
+ "percent-encoding",
+ "regex",
+ "shlex",
+]
+
 [[package]]
 name = "operator_bridge"
 version = "0.1.0"
@@ -1775,6 +1837,7 @@ dependencies = [
  "fixedbitset",
  "hashbrown 0.15.5",
  "indexmap",
+ "serde",
 ]
 
 [[package]]
@@ -2288,6 +2351,8 @@ dependencies = [
 name = "semantic_analyzer"
 version = "0.1.0"
 dependencies = [
+ "opencv",
+ "petgraph",
  "shared",
  "tokio",
  "tracing",
@@ -3272,6 +3337,27 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows"
+version = "0.62.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "527fadee13e0c05939a6a05d5bd6eec6cd2e3dbd648b9f8e447c6518133d8580"
+dependencies = [
+ "windows-collections",
+ "windows-core",
+ "windows-future",
+ "windows-numerics",
+]
+
+[[package]]
+name = "windows-collections"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "23b2d95af1a8a14a3c7367e1ed4fc9c20e0a26e79551b1454d72583c97cc6610"
+dependencies = [
+ "windows-core",
+]
+
 [[package]]
 name = "windows-core"
 version = "0.62.2"
@@ -3285,6 +3371,17 @@ dependencies = [
  "windows-strings",
 ]
 
+[[package]]
+name = "windows-future"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e1d6f90251fe18a279739e78025bd6ddc52a7e22f921070ccdc67dde84c605cb"
+dependencies = [
+ "windows-core",
+ "windows-link",
+ "windows-threading",
+]
+
 [[package]]
 name = "windows-implement"
 version = "0.60.2"
@@ -3313,6 +3410,16 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
 
+[[package]]
+name = "windows-numerics"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e2e40844ac143cdb44aead537bbf727de9b044e107a0f1220392177d15b0f26"
+dependencies = [
+ "windows-core",
+ "windows-link",
+]
+
 [[package]]
 name = "windows-result"
 version = "0.4.1"
@@ -3365,6 +3472,15 @@ dependencies = [
  "windows_x86_64_msvc",
 ]
 
+[[package]]
+name = "windows-threading"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3949bd5b99cafdf1c7ca86b43ca564028dfe27d66958f2470940f73d86d75b37"
+dependencies = [
+ "windows-link",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.6"