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Pepijn
7d8c165e08
The live mapper was building the voxel map in LingBot-Map's own monocular world frame while the robot pose came from odometry — two different frames, so goto would drive to wrong coordinates. Fix: use the odometry frame as the single world frame and project the model's camera-frame geometry (local_points) through the odometry pose (new pipeline.local_points_to_world). The model is now a depth source, not the world-frame authority — matching the plan. Also: carve focal length is derived from a --camera-hfov-deg knob instead of a placeholder; conservative default speed caps (0.4 m/s / 0.8 rad/s) for first bring-up. New: tests/navigation/test_live_mapper.py exercises the real perceive→ project→integrate loop with a fake robot + FakeGeometryRunner, asserting voxels land in (and track) the odometry world frame. 155 tests total. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>