r1pro: Rust stereo depth for the head at camera rate, with calibration - #4230

Draft

jeff-hykin wants to merge 13 commits into

jeff/feat/r1_pointliofrom

jeff/feat/r1_stereo

Commits on Sep 19, 2026

fix(pubsub): stop dropping CameraInfo intrinsics across the ROS bridge
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c7c4b4e
depth_cloud: a Rust stereo matcher for the R1's head, with the denoise chain and a height cutoff
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31ab45d
r1pro: publish the head's CameraInfo and the whole tf tree, at the rate the cameras run
jeff-hykin
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18c6ef9
r1pro: stereo calibration -- the file, the recorder, the fitter, and a rate check
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f5c3e6c
r1pro-stereo: the head matched live, on the rig's calibration
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c457d3f
stereo: let a frame wait for its partner, and stop rebuilding the rectification on every CameraInfo
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8ef7408
Merge branch 'jeff/feat/r1_pointlio' into jeff/feat/r1_stereo
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r1pro recorders: the Rust Point-LIO off dimos's Mid-360 driver
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2827cbd
Merge branch 'jeff/feat/r1_pointlio' into jeff/feat/r1_stereo
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a53d31d
Merge branch 'jeff/feat/r1_pointlio' into jeff/feat/r1_stereo
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f079187
r1pro recorders: plain Mid360 with the addresses from config.py
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23109f4
r1_stereo: type the fit helpers for mypy, and add depth_cloud to the recorder's nix fileset
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064f07d
r1_stereo: drop the section-marker comments the codebase check forbids
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6b16711