[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>

_docs/_autodev_state.md

@@ -5,21 +5,20 @@ flow: greenfield
 step: 7
 name: Implement
 status: between-batches
-sub_step:
-  phase: 0
-  name: batch-19-select
-  detail: ""
+sub_step: batch-20-select
 retry_count: 0
 cycle: 1
 tracker: jira
 
 ## Last Completed Batch
-batch: 18
-commit: 0854d3b
-ticket: AZ-659, AZ-660, AZ-661
-jira_status: In Testing (confirmed via read-back for all three)
-report: _docs/03_implementation/batch_18_cycle1_report.md
-cumulative_review: _docs/03_implementation/cumulative_review_batches_16-18_cycle1_report.md
+batch: 19
+ticket: AZ-662, AZ-669
+jira_status: In Progress (set at batch start; transition to In Testing after Jetson test run)
+notes: >
+  opencv + petgraph added to workspace; movement_detector ego-motion (optical_flow, ego_motion
+  modules) and semantic_analyzer primitive-graph + freshness-scorer implemented. Local cargo check
+  blocked by missing native OpenCV on macOS; authoritative test is `cargo test --workspace` on
+  the Jetson (ssh jetson-e2e).
 
 ## Process Leftovers
 - `_docs/_process_leftovers/2026-05-20_autopilot_clippy.md` — still pending; out-of-scope for batch 18