[TomCC7]

Relocalization reads .pc2.cdr premaps exported by #4692 and publishes generated TFMessage/TransformStamped and PointCloud2 values. The scanner window concatenates canonical clouds; the lidar aligner receives explicit Open3D geometry; Go2 merges the placed premap with its live map under the existing carving policy. Source cloud Headers/bytes are retained; accepted TF republications copy the fix and get the existing fresh publication time. Port names, matching thresholds, RANSAC/ICP parameters and once/retry/timer behavior remain unchanged.

Linear: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview

Parent: #4693. Offline relocalization replay/tuning utilities and their legacy recording fixtures are subsequent consumer layers. No legacy decoding fallback is added.

Category	Files	Review focus
Runtime	5	Base premap/fix contract, canonical lidar window/matcher adapters, Go2 map merge and recorded-input blueprint types
Tests	1	Original refusal/inversion/window assertions; real CDR ports and CPU merge placement; actual feature preparation
Documentation	2	New CDR premap filenames for the implemented runtime
CI	1	Installed production-module acceptance and five strict files

Validation: 14 source and the same 14 installed-wheel tests pass; installed module provenance asserted. Five production files pass scoped strict mypy; applicable hooks pass; normal wheel builds. SHA256: f77a8337a0efc981c26071df16e362892e6215f32252d74be27f56e81bd93442.

Manual offline review after installing the normal development dependencies:

OMP_NUM_THREADS=2 OPENBLAS_NUM_THREADS=2 python -m pytest \
  --noconftest --import-mode=importlib -o addopts='' -q \
  dimos/mapping/relocalization/test_module.py

The CDR integration writes a real premap file, starts real Module ports on explicit memq, submits a canonical fix and checks received map/TF values, exact capture versus publication times and input ownership. Window tests use virtual time instead of sleeps. Merge tests run the real CPU voxel implementation with host GPU availability isolated at the external hardware boundary.

A newly exposed native dependency issue is repaired here: Open3D0.20 makes FPFH indices mandatory. The adapter explicitly selects every coarse point on0.20 and retains the two-argument API for older supported releases. Feature preparation was actually executed on0.20; older binary releases were not installed/retested. No matching parameter was tuned.

The first merge acceptance attempt selected the production default GPU allocation on this host and timed out; the bounded command exited. CPU functionality is verified; GPU allocation/performance is not claimed. Production device defaults are unchanged. No benchmark investigation, CI polling, physical robot, host-network change or human acceptance. Nix and earlier external/optional dependency limitations remain separately documented in the stack.