[TomCC7]

Depth2DepthCloud now receives generated CompressedImage, CameraInfo, PointCloud2 and TFMessage values and publishes generated PointCloud2 with CDR payloads. The output copies the exact source Header stamp. Public Python port names/configuration and the model/calibration pipeline remain unchanged; LCM and Zenoh remain transport choices.

Parent: #4667. Part of the message encoding refactor.

Area	Changes
Python declaration/config regression	Generated input/output types; config-to-Rust checks also run against installed production code
Rust module/undistortion	Generated fields and explicit CDR input/output/TF adapters; normalized ROS time; no legacy value conversion
Native pointcloud helper	Shared byte-layout reader supports padded rows and both byte orders. Existing legacy entry point/signature is retained for unmigrated callers
Cargo/Nix	Locked generated message/SDK source dependencies; standalone Nix uses an immutable project archive with verified SHA256, plus existing fixed-hash message generation
Workflow	Native unit tests, installed-wheel config and explicit site-packages provenance assertions for depth-cloud/ZED

For an already prepared source checkout, run the software-only review checks without a camera, lidar or host-network changes:

python -m pytest --noconftest -o addopts='' -q \
  dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py
cargo test --locked -j 2 \
  --manifest-path dimos/perception/depth2depth_cloud/rust/Cargo.toml --lib
cargo test --locked -j 2 \
  --manifest-path native/rust/dimos-module/Cargo.toml pointcloud::tests

Expected: 7 Python config cases, 13 Rust module/undistortion cases and 5 shared pointcloud cases. Rust's normal build embeds the upstream model resources pinned by depth2depth 0.4.1; these checks do not run inference. The first build needs its normal native toolchain/dependencies and model files, subsequent cached checks can use --offline.

Validated locally: those 25 focused cases; 42 combined installed-main-wheel cases with the actual production modules asserted to come from site-packages; cargo check --locked --offline, all-target Clippy with -D warnings, compiled depth2depth_cloud binary, one strict Python source, normal main wheel and default 198-package uv pip check. Other applicable hooks pass. Wheel SHA256 71dd088d20bd3fc74a70153d3a3d64d34325d33eab2d7424504fde9f4de5c266.

Not validated: Nix build/lint (no nix executable locally), Metal/TensorRT, live neural pipeline accuracy/throughput or hardware. The local native lint hook fails specifically because Nix is unavailable; the repository gate is retained. No benchmarks or CI polling performed. The existing native TF graph still uses floating-point seconds internally; cloud Header timestamps remain exact integers. Default encoding cutover and legacy retirement remain later slices.