Camera calibration loading

dimos/hardware/camera/zed/__init__.py

@@ -0,0 +1,55 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""ZED camera hardware interfaces."""
+
+from pathlib import Path
+from dimos.msgs.sensor_msgs.CameraInfo import CalibrationProvider
+
+# Check if ZED SDK is available
+try:
+    import pyzed.sl as sl
+
+    HAS_ZED_SDK = True
+except ImportError:
+    HAS_ZED_SDK = False
+
+# Only import ZED classes if SDK is available
+if HAS_ZED_SDK:
+    from dimos.hardware.camera.zed.camera import ZEDCamera, ZEDModule
+else:
+    # Provide stub classes when SDK is not available
+    class ZEDCamera:
+        def __init__(self, *args, **kwargs):
+            raise ImportError(
+                "ZED SDK not installed. Please install pyzed package to use ZED camera functionality."
+            )
+
+    class ZEDModule:
+        def __init__(self, *args, **kwargs):
+            raise ImportError(
+                "ZED SDK not installed. Please install pyzed package to use ZED camera functionality."
+            )
+
+
+# Set up camera calibration provider (always available)
+CALIBRATION_DIR = Path(__file__).parent
+CameraInfo = CalibrationProvider(CALIBRATION_DIR)
+
+__all__ = [
+    "ZEDCamera",
+    "ZEDModule",
+    "HAS_ZED_SDK",
+    "CameraInfo",
+]

dimos/hardware/zed_camera.py → dimos/hardware/camera/zed/camera.py

@@ -12,38 +12,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import numpy as np
+from typing import Any, Dict, Optional, Tuple
+
 import cv2
+import numpy as np
 import open3d as o3d
-from typing import Optional, Tuple, Dict, Any
-import logging
-import time
-import threading
+import pyzed.sl as sl
+from dimos_lcm.sensor_msgs import CameraInfo
 from reactivex import interval
-from reactivex import operators as ops
-
-try:
-    import pyzed.sl as sl
-except ImportError:
-    sl = None
-    logging.warning("ZED SDK not found. Please install pyzed to use ZED camera functionality.")
 
-from dimos.hardware.stereo_camera import StereoCamera
 from dimos.core import Module, Out, rpc
-from dimos.utils.logging_config import setup_logger
-from dimos.protocol.tf import TF
-from dimos.msgs.geometry_msgs import Transform, Vector3, Quaternion
+from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
 
 # Import LCM message types
 from dimos.msgs.sensor_msgs import Image, ImageFormat
-from dimos_lcm.sensor_msgs import CameraInfo
-from dimos.msgs.geometry_msgs import PoseStamped
 from dimos.msgs.std_msgs import Header
+from dimos.protocol.tf import TF
+from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger(__name__)
 
 
-class ZEDCamera(StereoCamera):
+class ZEDCamera:
     """ZED Camera capture node with neural depth processing."""
 
     def __init__(

dimos/hardware/camera/zed/single_webcam.yaml

@@ -0,0 +1,27 @@
+# for cv2.VideoCapture and cutting only half of the frame
+image_width: 640
+image_height: 376
+camera_name: zed_webcam_single
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [379.45267,   0.     , 302.43516,
+           0.     , 380.67871, 228.00954,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.309435, 0.092185, -0.009059, 0.003708, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [291.12888,   0.     , 304.94086,   0.     ,
+           0.     , 347.95022, 231.8885 ,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

dimos/hardware/camera/zed/test_zed.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
+
+
+def test_zed_import_and_calibration_access():
+    """Test that zed module can be imported and calibrations accessed."""
+    # Import zed module from camera
+    from dimos.hardware.camera import zed
+
+    # Test that CameraInfo is accessible
+    assert hasattr(zed, "CameraInfo")
+
+    # Test snake_case access
+    camera_info_snake = zed.CameraInfo.single_webcam
+    assert isinstance(camera_info_snake, CameraInfo)
+    assert camera_info_snake.width == 640
+    assert camera_info_snake.height == 376
+    assert camera_info_snake.distortion_model == "plumb_bob"
+
+    # Test PascalCase access
+    camera_info_pascal = zed.CameraInfo.SingleWebcam
+    assert isinstance(camera_info_pascal, CameraInfo)
+    assert camera_info_pascal.width == 640
+    assert camera_info_pascal.height == 376
+
+    # Verify both access methods return the same cached object
+    assert camera_info_snake is camera_info_pascal
+
+    print("✓ ZED import and calibration access test passed!")

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, Literal
+from typing import Any, Callable, Generic, Literal, Optional, Protocol, TypeVar
 
 import cv2
 import numpy as np
@@ -153,12 +153,11 @@ def capture_frame(self) -> Image:
         image = Image.from_numpy(
             frame_rgb,
             format=ImageFormat.RGB,  # We converted to RGB above
-            frame_id=self._frame("camera"),  # Standard frame ID for camera images
+            frame_id=self._frame("camera_optical"),  # 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)