feat(pointcloud): support foundation stereo depth pipeline and global cloud integration

[junlinp]

Summary

• add FoundationStereo TRT ROS node support for publishing depth in camera_foundation_stereo frame
• add optional FoundationStereo pointcloud publishing (off by default)
• add world->camera_foundation_stereo TF broadcast with -90 deg X rotation
• update global pointcloud publisher to accept configurable --depth-topic (default /keyframe/depth)
• add input cloud pass-through mode via --input-cloud-topic
• add camera-frame filter to discard points with y < -1.0 before world transform

Validation

• python -m py_compile tool/foundation_stereo_trt.py
• python -m py_compile tool/global_pointcloud_publisher.py

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.15 s (266.8 files/s, 39216.9 lines/s)

Language	files	blank	comment	code
Python	12	580	250	3205
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	31	7	231
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	12	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	890	342	4647

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.17 s (238.8 files/s, 34982.6 lines/s)

Language	files	blank	comment	code
Python	12	579	250	3202
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	28	7	219
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	12	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	886	342	4632

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.15 s (267.5 files/s, 39206.1 lines/s)

Language	files	blank	comment	code
Python	12	579	250	3202
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	28	7	219
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	886	345	4632

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.16 s (256.5 files/s, 37602.8 lines/s)

Language	files	blank	comment	code
Python	12	579	250	3202
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	28	7	219
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	886	345	4632

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.16 s (246.2 files/s, 36081.3 lines/s)

Language	files	blank	comment	code
Python	12	579	250	3202
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	28	7	219
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	886	345	4632

[dvorak0]

Will the new model be compiled when make all？ Dont do that by default. its too slow

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.17 s (239.0 files/s, 35030.2 lines/s)

Language	files	blank	comment	code
Python	12	579	250	3202
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	28	7	219
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	886	345	4632

[junlinp]

Will the new model be compiled when make all？ Dont do that by default. its too slow

great.I fixed it.