alfred-mls-nav on the single DimSlam module - #3597
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Codecov Report❌ Patch coverage is @@ Coverage Diff @@
## jeff/fix/ray_tracing_tf #3597 +/- ##
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+ Coverage 71.70% 75.92% +4.22%
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Files 1329 1234 -95
Lines 131490 119495 -11995
Branches 12097 11142 -955
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+ Misses 34097 25676 -8421
+ Partials 3106 3088 -18
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The camera pointcloud was a 5 fps stand-in on the lidar stream and needed colour streaming to assemble at all. DimSlam's depth_cloud follows the depth frame rate and carries the range gate, so RayTracingVoxelMap consumes it directly and the camera stops assembling a pointcloud nothing reads.
…intcloud" This reverts commit c55bb83.
The camera's python pointcloud assembly tops out near 5 Hz regardless of pointcloud_fps, and the full-resolution depth_cloud drowned the mapper. DimSlam now publishes the cloud range-gated at 6 m and 3x3-median decimated (42 mm pitch at the gate, under the 50 mm voxel), and RayTracingVoxelMap consumes it in place of the camera pointcloud.
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The multiprocessing resource tracker exits only once every copy of its keep-alive fd is closed, and its __del__ waits for that during finalization. rerun_bindings.spawn leaks inheritable fds into a viewer that outlives the run, and the forkserver holds a copy of its own; either one hangs stop() forever. Spawn the viewer through Popen, which closes fds above 2, and terminate the forkserver outright rather than waiting on an EOF that cannot arrive.
alfred-mls-nav carried the whole vision-only stack inline, so anything that wanted to run it against something other than the robot had to copy it and drift. vis_nav holds every sensor-independent module -- DimSlam, the ray tracing voxel map, MLS planning, Dan's planner and controller -- and alfred-mls-nav is now just that plus the RealSense and high-level drivers. DimSlam gains the depth2depth fields the stack passes it, so the decimated cloud is built from the densified depth image rather than the raw one.
AlfredReplay publishes a recording's cameras, IMU and wheel odometry onto the same stream names the live drivers use, so the blueprint is the replay source plus vis_nav verbatim -- a replay exercises the code a real run does. Both imagers are zipped rather than scheduled apart: under decode load they drift past the tracker's 1 ms skew limit and the pair is rejected. Recorded tf edges under odom/map/visual_odom are dropped so the replayed filter owns base_link instead of it having two parents. Each stream is paced against wall time on its own thread, so a consumer slower than the recording stretches the run by an amount nothing can predict; a done-file marks the point where every stream has drained, and a periodic line reports the achieved rate and the spread between the leading and trailing stream, which is what shows up downstream as images older than the tracker's replay buffer.
…lock A slow consumer used to pull its stream ever further behind the anchor, something a live sensor can never do. Frames whose slot has passed are now dropped (decode deferred so drops cost a db fetch, not an image decode), paced by a per-subscription thread with chunked sleeps because macOS timer coalescing multiplies a background process's sleep requests severalfold. Alfred stereo is paired by stamp instead of arrival order, since uncoordinated drops would misalign an ordinal zip forever.
The whole-repo flake input hash changes with any commit, invalidating the src derivation even though the build only consumes two crates from it. Re-copying those crates through builtins.path gives them content-addressed store paths, so the binary is reused until the crates themselves change.
The __init__ lock was immediately replaced in main(), the max(hz, 1e-3) guarded a config value that is never zero, and the poll docstring repeated what now lives as comments at the negation and twist sites.
portal ships in the misc extra, so a top-level import breaks blueprint validation tests in environments without it.
dimos.memory.transform/type/store no longer exist in the tree, so these imports failed at runtime and under mypy.
… instead of a pinned rev
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Stacked on jeff/feat/dim_slam and jeff/fix/ray_tracing_tf; final branch of the stack.