zed local node

dimos/hardware/test_webcam.py

@@ -43,14 +43,17 @@ def test_basic():
 def test_module():
     dimos = start(1)
     # Deploy ColorCameraModule, not Webcam directly
-    camera_module = dimos.deploy(ColorCameraModule)
+    camera_module = dimos.deploy(
+        ColorCameraModule,
+        hardware=lambda: Webcam(camera_index=4, frequency=30, stereo_slice="left"),
+    )
     camera_module.image.transport = LCMTransport("/image", Image)
     camera_module.start()
 
     test_transport = LCMTransport("/image", Image)
     test_transport.subscribe(print)
 
-    time.sleep(2)
+    time.sleep(60)
 
     print("shutting down")
     camera_module.stop()

dimos/hardware/webcam.py

@@ -18,7 +18,7 @@
 from abc import ABC, abstractmethod, abstractproperty
 from dataclasses import dataclass, field
 from functools import cache
-from typing import Any, Callable, Generic, Optional, Protocol, TypeVar
+from typing import Any, Callable, Generic, Optional, Protocol, TypeVar, Literal
 
 import cv2
 import numpy as np
@@ -62,6 +62,7 @@ class WebcamConfig(CameraConfig):
     frequency: int = 10
     camera_info: CameraInfo = field(default_factory=CameraInfo)
     frame_id_prefix: Optional[str] = None
+    stereo_slice: Optional[Literal["left", "right"]] = None  # For stereo cameras
 
 
 class Webcam(ColorCameraHardware[WebcamConfig]):
@@ -155,6 +156,15 @@ def capture_frame(self) -> Image:
             frame_id=self._frame("camera"),  # Standard frame ID for camera images
             ts=time.time(),  # Current timestamp
         )
+
+        if self.config.stereo_slice in ("left", "right"):
+            image.frame_id = self._frame(f"camera_stereo_{self.config.stereo_slice}")
+            half_width = image.width // 2
+            if self.config.stereo_slice == "left":
+                image = image.crop(0, 0, half_width, image.height)
+            else:
+                image = image.crop(half_width, 0, half_width, image.height)
+
         return image
 
     def _capture_loop(self):