CLAUDE: self-documenting comments: TpTask bridge role, differential rectification, offset composition

Comment-only (no code change; mvn compile clean). Documents, from Andrey's
explanation: TpTask as the Java<->CUDA work-list bridge; the per-sensor xy
offset as the differential-rectification composed shift (factory kernel
offset + misalignment + disparity + relative pose) split integer/fractional;
historic host-side vs current GPU-side geometry fill; updateTasks() D2H;
disp_dist[cam][4] = d(x,y)/d(disp,ndisp) Jacobian consumed by Corr2dLMA and
lazy-eye/ERS.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>