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/finalize.py

@@ -34,6 +34,7 @@ def finalize_result(
     T_IMU_lidar: np.ndarray | None = None,
     time_offset_s: float | None = None,
     output_directory: Path | None = None,
+    motion_pairs_payload: dict[str, Any] | None = None,
 ) -> CalibrationResult:
     """Build the result envelope and optionally write report files."""
 
@@ -72,5 +73,10 @@ def finalize_result(
                 json.dumps({"delta_t_s": time_offset_s, "definition": "t_imu = t_lidar + delta_t"}, indent=2),
                 encoding="utf-8",
             )
+        if motion_pairs_payload is not None:
+            from .motion_pairs_io import save_motion_pairs
+
+            save_motion_pairs(output_directory / "motion_pairs.json", motion_pairs_payload)
+            summary["motion_pairs_file"] = "motion_pairs.json"
         (output_directory / "summary.json").write_text(json.dumps(summary, indent=2), encoding="utf-8")
     return result