dimSLAM: enhanced cuVSLAM

[jeff-hykin]

cuVSLAM enhanced with wheel odometry

next PR lets us run it on alfred

[greptile-apps]

Greptile Summary

This change adds the Rust-backed dimSLAM module, a RealSense stereo demo, odometry-path visualization, and supporting registration. The infrared-only demo can fail to initialize visual odometry on a RealSense profile without a discoverable depth stream because camera-frame transforms are withheld even though the infrared streams are enabled.

Confidence Score: 4/5

The infrared-only RealSense demo is not reliable across supported camera profiles until its transform origin can be selected from an enabled stream.

The camera transform builder unconditionally selects a depth profile as its origin. When that profile is unavailable, it returns without publishing the infrared transforms required by dimSLAM.

Files Needing Attention: dimos/hardware/sensors/camera/realsense/camera.py

T-Rex Logs

What T-Rex did

• T-Rex produced a proof for a posted P1 finding and linked to the review comment.
• T-Rex produced a proof for another posted P1 finding and linked to the review comment.
• T-Rex ran the infrared-only RealSense TF validation script and confirmed the expected camera links and frames when depth is exposed; no product code changes were made, and only the validation script and its output were created.

_{Ran code and verified through T-Rex}

Comments Outside Diff (2)

1. dimos/hardware/sensors/camera/realsense/camera.py, line 496-499 (link)

   Infrared-only camera transforms require depth

   _build_mount_edges() always selects the depth profile as its transform origin. The dimSLAM demo deliberately disables depth while enabling infrared; on a device/profile without a discoverable depth profile this returns before publishing either infrared mount or optical-frame transform. dimSLAM resolves its stereo-camera extrinsics through TF, so visual odometry cannot initialize. Select an enabled infrared profile as the origin when depth is unavailable.

   Artifacts

   
   

   Infrared-only RealSense TF validation script source

   • Authored Python validation parses the current sources and executes the exact RealSense profile and mount-edge methods against mocked device profiles, showing the tested configuration and assertions.

   Infrared-only RealSense TF validation command output

   • Captured output of the validation command from `/home/user/repo` with exit code 0, showing both infrared mount and optical TF edges exist when a depth profile is available.

   

   _{Ran code and verified through T-Rex}

2. General comment

   Infrared-only RealSense TF setup still requires a depth device profile

   • Bug
     • _build_mount_edges() always resolves rs.stream.depth as its transform origin. If an infrared-only configuration runs on a device/profile without a discoverable depth stream profile, it logs that no depth stream exists and returns before publishing any infrared mount or optical TF edges.
   • Cause
     • The hard-coded depth origin lookup at camera.py:496 is unconditional, while the demo deliberately disables the depth stream and DimSlam consumes the remapped infrared camera frames using TF extrinsics against its rig frame.
   • Fix
     • Choose an enabled infrared stream as the origin when depth is disabled or unavailable (and retain depth as the preferred origin when present), then construct the infrared mount and optical edges from that origin.

   _{Ran code and verified through T-Rex}

_{Reviews (20): Last reviewed commit: "dim_slam: as_chunks over chunks_exact fo..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 86.20690% with 28 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/mapping/dim_slam/dim_slam.py	78.15%	26 Missing ⚠️
dimos/mapping/dim_slam/test_dim_odom_replay.py	97.46%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3632      +/-   ##
==========================================
+ Coverage   77.83%   77.84%   +0.01%     
==========================================
  Files        1329     1331       +2     
  Lines      126868   127014     +146     
  Branches    11035    11160     +125     
==========================================
+ Hits        98749    98879     +130     
- Misses      24970    24986      +16     
  Partials     3149     3149              

Flag	Coverage Δ
OS-ubuntu-24.04-arm	74.50% <50.24%> (-0.05%)	⬇️
OS-ubuntu-latest	75.03% <50.24%> (-0.05%)	⬇️
Py-3.10	75.03% <50.24%> (-0.06%)	⬇️
Py-3.11	75.02% <50.24%> (-0.06%)	⬇️
Py-3.12	75.03% <50.24%> (-0.05%)	⬇️
Py-3.13	75.03% <50.24%> (-0.05%)	⬇️
Py-3.14	75.03% <50.24%> (-0.05%)	⬇️
Py-3.14t	75.03% <50.24%> (-0.05%)	⬇️
SelfHosted-Large	30.62% <97.46%> (+0.42%)	⬆️
SelfHosted-Linux	34.64% <25.31%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/mapping/dim_slam/demo_dim_slam_realsense.py	78.57% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/utils/nvidia_env.py	21.35% <100.00%> (ø)
dimos/mapping/dim_slam/test_dim_odom_replay.py	97.46% <97.46%> (ø)
dimos/mapping/dim_slam/dim_slam.py	78.15% <78.15%> (ø)

... and 4 files with indirect coverage changes

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