Repair camera module

[leshy]

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Greptile Summary

This PR refactors the camera module to fix previously identified bugs with sharpness_barrier application and the video_stream skill. Key changes include:

• Fixed sharpness_barrier bug: The barrier is now properly applied to the image stream (only when frequency > 0) by storing the result of pipe() before subscribing
• Fixed video_stream skill: Now correctly yields Image values using the new iter_observable() utility instead of yielding Observable[Image]
• Simplified architecture: Removed manual subscription tracking (_module_subscription, _camera_info_subscription) in favor of centralized disposal via _disposables
• Improved metadata publishing: Moved to periodic 1-second interval using rx.interval() with immutable with_ts() method
• Better code organization: Moved obsolete gstreamer code to separate subdirectory with documentation
• Improved testing: Added proper pytest fixtures with cleanup and removed duplicate test case

The refactoring addresses the two critical bugs mentioned in previous review comments while improving overall code quality and maintainability.

Confidence Score: 3/5

• This PR fixes critical bugs but introduces two new logic issues that need attention
• Score reflects successful bug fixes for the primary issues, but two new logic problems were introduced: (1) iter_observable incorrectly handles None values from observables, and (2) direct mutation of self.config.transform could cause issues if the transform is shared. These need to be addressed before merge.
• Pay close attention to dimos/utils/reactive.py and dimos/hardware/sensors/camera/module.py for the logic issues identified in comments

Important Files Changed

Filename	Overview
dimos/hardware/sensors/camera/module.py	Refactored to fix sharpness_barrier application and video_stream skill, simplified architecture by removing manual subscription management
dimos/utils/reactive.py	Added iter_observable utility to convert Observable to Generator, potential edge case with None values
dimos/msgs/sensor_msgs/CameraInfo.py	Added with_ts method to create timestamped copies of CameraInfo

Sequence Diagram

sequenceDiagram
    participant User
    participant CameraModule
    participant Hardware as CameraHardware
    participant Observable as image_stream()
    participant SharpnessBarrier
    participant Subscribers

    User->>CameraModule: start()
    CameraModule->>Hardware: instantiate hardware
    CameraModule->>Hardware: image_stream()
    Hardware-->>Observable: return Observable[Image]
    
    alt frequency > 0
        CameraModule->>SharpnessBarrier: pipe(sharpness_barrier(freq))
        SharpnessBarrier-->>Observable: filtered Observable[Image]
    end
    
    CameraModule->>Observable: subscribe(color_image.publish)
    CameraModule->>CameraModule: rx.interval(1.0).subscribe(publish_metadata)
    
    loop every 1 second
        CameraModule->>Hardware: hardware.camera_info
        CameraModule->>CameraModule: with_ts(time.time())
        CameraModule->>Subscribers: camera_info.publish()
        CameraModule->>Subscribers: tf.publish(transforms)
    end
    
    loop on each image
        Observable->>Subscribers: color_image.publish(Image)
    end
    
    User->>CameraModule: video_stream() skill
    CameraModule->>Hardware: image_stream()
    CameraModule->>Observable: pipe(ops.sample(1.0))
    CameraModule->>CameraModule: iter_observable()
    CameraModule-->>User: yield Image frames

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[leshy]

@greptileai plzz review again

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