fix lcm load speed

dimos/msgs/sensor_msgs/CameraInfo.py

@@ -20,7 +20,6 @@
 from dimos_lcm.sensor_msgs import CameraInfo as LCMCameraInfo
 from dimos_lcm.std_msgs.Header import Header
 import numpy as np
-import rerun as rr
 
 # Import ROS types
 try:
@@ -405,6 +404,8 @@ def to_rerun(self, image_plane_distance: float = 0.5):  # type: ignore[no-untype
         Returns:
             rr.Pinhole archetype for logging to Rerun
         """
+        import rerun as rr
+
         # Extract intrinsics from K matrix
         # K = [fx, 0, cx, 0, fy, cy, 0, 0, 1]
         fx, fy = self.K[0], self.K[4]

dimos/msgs/sensor_msgs/PointCloud2.py

@@ -23,11 +23,9 @@
 )
 from dimos_lcm.sensor_msgs.PointField import PointField  # type: ignore[import-untyped]
 from dimos_lcm.std_msgs.Header import Header  # type: ignore[import-untyped]
-import matplotlib.pyplot as plt
 import numpy as np
 import open3d as o3d  # type: ignore[import-untyped]
 import open3d.core as o3c  # type: ignore[import-untyped]
-import rerun as rr
 
 from dimos.msgs.geometry_msgs import Transform, Vector3
 
@@ -55,6 +53,8 @@
 @functools.lru_cache(maxsize=16)
 def _get_matplotlib_cmap(name: str):  # type: ignore[no-untyped-def]
     """Get a matplotlib colormap by name (cached for performance)."""
+    import matplotlib.pyplot as plt
+
     return plt.get_cmap(name)
 
 
@@ -626,6 +626,8 @@ def to_rerun(  # type: ignore[no-untyped-def]
         fill_mode: str = "solid",
         **kwargs,  # type: ignore[no-untyped-def]
     ):  # type: ignore[no-untyped-def]
+        import rerun as rr
+
         """Convert to Rerun Points3D or Boxes3D archetype.
 
         Args:

dimos/protocol/pubsub/jpeg_shm.py

@@ -12,8 +12,32 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.protocol.pubsub.lcmpubsub import JpegSharedMemoryEncoderMixin
+from typing import Any
+
+from turbojpeg import TurboJPEG  # type: ignore[import-untyped]
+
+from dimos.msgs.sensor_msgs.Image import Image
+from dimos.msgs.sensor_msgs.image_impls.AbstractImage import ImageFormat
 from dimos.protocol.pubsub.shmpubsub import SharedMemoryPubSubBase
+from dimos.protocol.pubsub.spec import PubSubEncoderMixin
+
+
+class JpegSharedMemoryEncoderMixin(PubSubEncoderMixin[str, Image]):
+    def __init__(self, quality: int = 75, **kwargs) -> None:  # type: ignore[no-untyped-def]
+        super().__init__(**kwargs)
+        self.jpeg = TurboJPEG()
+        self.quality = quality
+
+    def encode(self, msg: Any, _topic: str) -> bytes:
+        if not isinstance(msg, Image):
+            raise ValueError("Can only encode images.")
+
+        bgr_image = msg.to_bgr().to_opencv()
+        return self.jpeg.encode(bgr_image, quality=self.quality)  # type: ignore[no-any-return]
+
+    def decode(self, msg: bytes, _topic: str) -> Image:
+        bgr_array = self.jpeg.decode(msg)
+        return Image(data=bgr_array, format=ImageFormat.BGR)
 
 
 class JpegSharedMemory(JpegSharedMemoryEncoderMixin, SharedMemoryPubSubBase):  # type: ignore[misc]

dimos/protocol/pubsub/lcmpubsub.py

@@ -17,10 +17,6 @@
 from dataclasses import dataclass
 from typing import TYPE_CHECKING, Any, Protocol, runtime_checkable
 
-from turbojpeg import TurboJPEG  # type: ignore[import-untyped]
-
-from dimos.msgs.sensor_msgs import Image
-from dimos.msgs.sensor_msgs.image_impls.AbstractImage import ImageFormat
 from dimos.protocol.pubsub.spec import PickleEncoderMixin, PubSub, PubSubEncoderMixin
 from dimos.protocol.service.lcmservice import LCMConfig, LCMService, autoconf
 from dimos.utils.logging_config import setup_logger
@@ -123,24 +119,6 @@ def decode(self, msg: bytes, topic: Topic) -> LCMMsg:
         return topic.lcm_type.lcm_jpeg_decode(msg)  # type: ignore[attr-defined, no-any-return]
 
 
-class JpegSharedMemoryEncoderMixin(PubSubEncoderMixin[str, Image]):
-    def __init__(self, quality: int = 75, **kwargs) -> None:  # type: ignore[no-untyped-def]
-        super().__init__(**kwargs)
-        self.jpeg = TurboJPEG()
-        self.quality = quality
-
-    def encode(self, msg: Any, _topic: str) -> bytes:
-        if not isinstance(msg, Image):
-            raise ValueError("Can only encode images.")
-
-        bgr_image = msg.to_bgr().to_opencv()
-        return self.jpeg.encode(bgr_image, quality=self.quality)  # type: ignore[no-any-return]
-
-    def decode(self, msg: bytes, _topic: str) -> Image:
-        bgr_array = self.jpeg.decode(msg)
-        return Image(data=bgr_array, format=ImageFormat.BGR)
-
-
 class LCM(
     LCMEncoderMixin,
     LCMPubSubBase,

dimos/protocol/pubsub/spec.py

@@ -20,15 +20,10 @@
 import pickle
 from typing import Any, Generic, TypeVar
 
-from dimos.utils.logging_config import setup_logger
-
 MsgT = TypeVar("MsgT")
 TopicT = TypeVar("TopicT")
 
 
-logger = setup_logger()
-
-
 class PubSub(Generic[TopicT, MsgT], ABC):
     """Abstract base class for pub/sub implementations with sugar methods."""