feat: planner incremental builds and mapper frame registration

dimos/mapping/ray_tracing/module.py

@@ -19,6 +19,7 @@
 
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.stream import In, Out
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.spec import mapping
@@ -43,10 +44,18 @@ class RayTracingVoxelMapConfig(NativeModuleConfig):
     # Bounds for the health of voxels. Positive health means voxel is occupied.
     min_health: int = -2
     max_health: int = 1
-    # Spare a clearing miss when |ray dot surface normal| is below this.
+    # Don't clear a miss when abs of ray dot normal is below this, clear it when above.
+    # Higher clears only on direct hits, lower clears on slight grazes too.
     graze_cos: float = 0.7
     # Only spare a voxel whose neighborhood was hit within this many frames.
+    # A stale voxel can be cleared, even if it's a grazing hit. Large disables it.
     recency_window: int = 15
+    # Publish the accumulated local map and region bounds every Nth frame. Zero disables them.
+    emit_every: int = 1
+    # Publish the global map every Nth frame. Zero disables it.
+    global_emit_every: int = 1
+    # Size the local region to this percentile of batch point distances.
+    region_percentile: float = 95.0
 
 
 class RayTracingVoxelMap(NativeModule, mapping.GlobalPointcloud):
@@ -58,8 +67,8 @@ class RayTracingVoxelMap(NativeModule, mapping.GlobalPointcloud):
     odometry: In[Odometry]
     global_map: Out[PointCloud2]
     local_map: Out[PointCloud2]
+    region_bounds: Out[PoseStamped]
 
 
-# Verify protocol port compliance (mypy will flag missing ports)
 if TYPE_CHECKING:
     RayTracingVoxelMap()

dimos/mapping/ray_tracing/rust/Cargo.toml

@@ -21,6 +21,8 @@ lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "r
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }
 ahash = "0.8"
+arrayvec = "0.7"
+rayon = "1"
 tracing = "0.1"
 pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
 numpy = "0.25"

dimos/mapping/ray_tracing/rust/flake.nix

@@ -34,7 +34,7 @@
           cargoRoot = "dimos/mapping/ray_tracing/rust";
           buildAndTestSubdir = "dimos/mapping/ray_tracing/rust";
 
-          cargoHash = "sha256-g30NaoLdtWT5YBsEnE4Xv+EMnI5HHFtZAUtdEL/VbKQ=";
+          cargoHash = "sha256-0d0dlNDvDplA7oWTyUWOCOlS74Zie8uMQ+ps6lXntOI=";
 
           meta.mainProgram = "voxel_ray_tracing";
         };