[autodev] Step 13 partial: helpers 1-4 cycle-1 doc sync

Batch 5a of the cycle-1 doc sync. For each of the four
foundation helpers (imu_preintegrator, se3_utils,
lightglue_runtime, wgs_converter):

- Append "Cycle-1 operational reality" section to the
  existing common-helpers/<NN>_*.md, documenting what the
  shipped implementation actually exposes vs. the design-
  intent sketch (interfaces, exception types, public
  constants, AZ-task lineage).

Specific cycle-1 facts captured per helper:

- imu_preintegrator (AZ-276): make_imu_preintegrator
  factory, BMI088-class noise defaults, single
  ImuPreintegrationError exception, actual return type is
  PreintegratedCombinedMeasurements (consumer builds the
  CombinedImuFactor), destructive reset_with_bias semantics,
  first-sample-not-integrated dt=0 handling.
- se3_utils (AZ-277): SE3 = gtsam.Pose3 re-export,
  Se3InvalidMatrixError, strict caller-orthogonalisation
  invariant, _DEFAULT_ROT_ATOL=1e-6 and small-angle Taylor
  cutoff for exp_map, is_valid_rotation predicate, strict
  dtype=float64 everywhere.
- lightglue_runtime (AZ-278 / R14 fix): EngineHandle
  Protocol-typed constructor, LightGlueRuntimeError +
  LightGlueConcurrentAccessError, non-blocking concurrent-
  access guard (raises rather than serialises),
  match_batch equal-length precondition, composition-root
  single-instance into C2.5 + C3.
- wgs_converter (AZ-279 + AZ-490): WEB_MERCATOR_MAX_LAT_DEG
  and MAX_ZOOM constants, WgsConversionError, ECEF arrays
  are ndarray(3,) float64, new horizontal_distance_m method
  (AZ-490 takeoff-origin bounded-delta gate), slippy-map
  tile math hand-rolled to match satellite-provider on-disk
  layout.

Two contract files (imu_preintegrator.md and
wgs_converter.md) need follow-up minor revisions to match
shipped surface; queued for the next contracts-folder
sweep, noted inline in each helper's new section.

Also refresh D-CROSS-CVE-1 opencv-pin leftover replay
timestamp (8-min debounce — gtsam upstream state cannot
change in that window).

Bumps _docs/_autodev_state.md sub_step detail.

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

_docs/_autodev_state.md

@@ -8,7 +8,7 @@ status: in_progress
 sub_step:
   phase: 8
   name: component-doc-updates
-  detail: "batch 4/~5 done (c10/c11/c12/c13); next: 8 helpers; then tests/"
+  detail: "batch 5a in progress (4 helpers: imu_preint/se3/lightglue/wgs); batch 5b=4 more helpers; then tests/"
 retry_count: 0
 cycle: 1
 tracker: jira