G1 - local zed via webcam module - 2d detection spatial localization

[leshy]

deps

• camera calibration system Camera calibration loading #629
• 2d detection - spatial mapping 2D detection module + Pointcloud localization #583

Implements a camera spec and universal camera hosting module

generic spec for a camera

class CameraHardware(Configurable[CameraConfigT], Generic[CameraConfigT]):
    @abstractmethod
    def image_stream(self) -> Observable[Image]:
        pass

    @abstractproperty
    def camera_info(self) -> CameraInfo:
        pass

Universal camera module can host any hardware implementation and allows you to specify physical relationship of a camera to other components via a transform (provides optical_frame automatically)

        self.camera = self.dimos.deploy(
            CameraModule,
            transform=Transform(
                translation=Vector3(0.05, 0.0, 0.0),
                rotation=Quaternion(0.0, 0.0, 0.0, 1.0),
                frame_id="base_link
                child_frame_id="camera_link",
            ),

            hardware=lambda: Webcam(
                camera_index=1,
                frequency=15,
                stereo_slice="left",
                camera_info=zed.CameraInfo.SingleWebcam,
            ),
        )

uses default config / typed config interface we should use elsewhere also

@dataclass
class WebcamConfig(CameraConfig):
    camera_index: int = 0
    frame_width: int = 640
    frame_height: int = 480
    frequency: int = 10
    camera_info: CameraInfo = field(default_factory=CameraInfo)


class Webcam(CameraHardware[WebcamConfig]):
    default_config = WebcamConfig
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        print(self.config) # **kwargs provided will be overlayed on top of the default config