支持主机桥接后固定δt与旋转先验，并落盘运动对供可视化直读。

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

imu_lidar/cli.py

@@ -52,6 +52,23 @@ def build_parser() -> argparse.ArgumentParser:
     )
     run.add_argument("--max-iterations", type=int, default=2)
     run.add_argument("--time-offset-search-s", type=float, default=1.0)
+    run.add_argument(
+        "--fixed-time-offset-s",
+        type=float,
+        default=None,
+        help="Skip |ω| δt search and use this constant (use 0 after host-UTC bridge)",
+    )
+    run.add_argument(
+        "--no-signed-time-refine",
+        action="store_true",
+        help="Disable signed 3-axis δt refine after hand-eye (recommended for host-bridged data)",
+    )
+    run.add_argument(
+        "--max-signed-refine-shift-s",
+        type=float,
+        default=0.05,
+        help="Max |Δδt| accepted by signed refine from the coarse estimate",
+    )
     run.add_argument("--min-pair-rotation-deg", type=float, default=3.0)
     run.add_argument("--min-pair-translation-m", type=float, default=0.3)
     return parser
@@ -102,6 +119,9 @@ def main(argv: list[str] | None = None) -> int:
             min_pair_rotation_deg=args.min_pair_rotation_deg,
             min_pair_translation_m=args.min_pair_translation_m,
             time_offset_search_s=args.time_offset_search_s,
+            fixed_time_offset_s=args.fixed_time_offset_s,
+            enable_signed_time_refine=not args.no_signed_time_refine,
+            max_signed_refine_shift_s=args.max_signed_refine_shift_s,
         )
         result = run_calibration(request)
         print(f"status: {result.status.value}")