Rename all occurrences of Zed2i to Zed in airo-mono

README.md

@@ -54,13 +54,13 @@ pip install airo-camera-toolkit airo-robots
 ```
 And writing a simple script:
 ```python
-from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+from airo_camera_toolkit.cameras.zed.zed import Zed
 from airo_robots.manipulators.hardware.ur_rtde import URrtde
 from airo_robots.grippers.hardware.robotiq_2f85_urcap import Robotiq2F85
 
 robot_ip_address = "10.40.0.162"
 
-camera = Zed2i()
+camera = Zed()
 robot = URrtde(ip_address=robot_ip_address)
 gripper = Robotiq2F85(ip_address=robot_ip_address)
 

airo-camera-toolkit/README.md

@@ -34,11 +34,11 @@ pip install .[hand-eye-calibration]
 ## Getting started with cameras
 Camera can be accessed by instantiating the corresponding class:, e.g. for a ZED camera:
 ```python
-from airo_camera_toolkit.cameras.zed2i import Zed2i
+from airo_camera_toolkit.cameras.zed import Zed
 from airo_camera_toolkit.utils import ImageConverter
 import cv2
 
-camera = Zed2i(Zed2i.RESOLUTION_720, fps=30)
+camera = Zed(Zed.RESOLUTION_720, fps=30)
 
 while True:
     image_rgb_float = camera.get_rgb_image()

airo-camera-toolkit/airo_camera_toolkit/cameras/camera_discovery.py

@@ -44,9 +44,9 @@ def discover_camera(brand: Optional[str], serial_number: Optional[str] = None, *
     brand_enum = CameraBrand(brand)  # Attempt to convert to enum
 
     if brand_enum == CameraBrand.ZED:
-        from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+        from airo_camera_toolkit.cameras.zed.zed import Zed
 
-        camera = Zed2i(serial_number=serial_number, **kwargs)
+        camera = Zed(serial_number=serial_number, **kwargs)
     elif brand_enum == CameraBrand.REALSENSE:
         from airo_camera_toolkit.cameras.realsense.realsense import Realsense
 

airo-camera-toolkit/airo_camera_toolkit/cameras/multiprocess/README.md

@@ -29,7 +29,7 @@ The receiver is subclass of `RGBCamera` which ensures that it follows the interf
 
 ## Usage
 See the  main function in [multiprocess_rgb_camera.py](./multiprocess_rgb_camera.py) for a simple example of how to use these classes with a ZED camera.
-The main difference with the regular workflow is that instead of instantiating a `Zed2i` object, you now have to first create a `MultiprocessRGBPublisher` with the class and its kwargs, and then one or more `MultiprocessRGBReceiver`s.
+The main difference with the regular workflow is that instead of instantiating a `Zed` object, you now have to first create a `MultiprocessRGBPublisher` with the class and its kwargs, and then one or more `MultiprocessRGBReceiver`s.
 
 > :information_source: Similar to how regular `RGBCamera`s behave, `MultiprocessRGBReceiver`s will block until a new image is available.
 

airo-camera-toolkit/airo_camera_toolkit/cameras/multiprocess/multiprocess_rgb_camera.py

@@ -67,7 +67,7 @@ def __init__(
         """Instantiates the publisher. Note that the publisher (and its process) will not start until start() is called.
 
         Args:
-            camera_cls (type): The class e.g. Zed2i that this publisher will instantiate.
+            camera_cls (type): The class e.g. Zed that this publisher will instantiate.
             camera_kwargs (dict, optional): The kwargs that will be passed to the camera_cls constructor.
             shared_memory_namespace (str, optional): The string that will be used to prefix the shared memory blocks that this class will create.
         """
@@ -413,21 +413,21 @@ def __del__(self) -> None:
     """example of how to use the MultiprocessRGBPublisher and MultiprocessRGBReceiver.
     You can also use the MultiprocessRGBReceiver in a different process (e.g. in a different python script)
     """
-    from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+    from airo_camera_toolkit.cameras.zed.zed import Zed
 
     multiprocessing.set_start_method("spawn")
 
-    resolution = Zed2i.RESOLUTION_2K
+    resolution = Zed.RESOLUTION_2K
     camera_fps = 15
     namespace = "camera"
 
     # Creating and starting the publisher
     publisher = MultiprocessRGBPublisher(
-        Zed2i,
+        Zed,
         camera_kwargs={
             "resolution": resolution,
             "fps": camera_fps,
-            "depth_mode": Zed2i.NEURAL_DEPTH_MODE,
+            "depth_mode": Zed.NEURAL_DEPTH_MODE,
         },
         shared_memory_namespace=namespace,
     )

airo-camera-toolkit/airo_camera_toolkit/cameras/multiprocess/multiprocess_rgbd_camera.py

@@ -389,19 +389,19 @@ def __del__(self) -> None:
 
     import multiprocessing
 
-    from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+    from airo_camera_toolkit.cameras.zed.zed import Zed
 
     multiprocessing.set_start_method("spawn")
 
-    resolution = Zed2i.RESOLUTION_2K
+    resolution = Zed.RESOLUTION_2K
     camera_fps = 15
 
     publisher = MultiprocessRGBDPublisher(
-        Zed2i,
+        Zed,
         camera_kwargs={
             "resolution": resolution,
             "fps": camera_fps,
-            "depth_mode": Zed2i.NEURAL_DEPTH_MODE,
+            "depth_mode": Zed.NEURAL_DEPTH_MODE,
         },
     )
 

airo-camera-toolkit/airo_camera_toolkit/cameras/multiprocess/multiprocess_stereo_rgbd_camera.py

@@ -281,22 +281,22 @@ def __del__(self) -> None:
 
     import multiprocessing
 
-    from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+    from airo_camera_toolkit.cameras.zed.zed import Zed
 
     multiprocessing.set_start_method("spawn")
 
-    resolution = Zed2i.RESOLUTION_2K
+    resolution = Zed.RESOLUTION_2K
     camera_fps = 15
 
     # import os
     # os.environ["CUDA_VISIBLE_DEVICES"] = "3"
 
     publisher = MultiprocessStereoRGBDPublisher(
-        Zed2i,
+        Zed,
         camera_kwargs={
             "resolution": resolution,
             "fps": camera_fps,
-            "depth_mode": Zed2i.NEURAL_DEPTH_MODE,
+            "depth_mode": Zed.NEURAL_DEPTH_MODE,
         },
         log_debug=True,
     )

airo-camera-toolkit/airo_camera_toolkit/cameras/zed/installation.md

@@ -46,7 +46,7 @@ Now We will test whether our `airo_camera_toolkit can access the ZED cameras.
 In this directory run:
 ```
 conda activate airo-mono
-python zed2i.py
+python zed.py
 ```
 Complete the prompts. If everything looks normal, congrats, you successfully completed the installation! :tada:
 

airo-camera-toolkit/airo_camera_toolkit/cameras/zed/zed.py

@@ -3,7 +3,6 @@
 from typing import Any, List, Optional
 
 from loguru import logger
-from typing_extensions import deprecated
 
 try:
     import pyzed.sl as sl
@@ -90,22 +89,22 @@ def __init__(  # type: ignore[no-any-unimported]
         self._resolution = resolution
         self.fps = fps
         self.depth_mode = depth_mode
-        self.serial_number = serial_number
+        self.serial_number = int(serial_number) if serial_number else None
 
         self.camera = sl.Camera()
 
         # TODO: create a configuration class for the camera parameters
         self.camera_params = sl.InitParameters()
 
-        if serial_number:
-            self.camera_params.set_from_serial_number(int(serial_number))
+        if self.serial_number:
+            self.camera_params.set_from_serial_number(self.serial_number)
 
         if svo_filepath:
             input_type = sl.InputType()
             input_type.set_from_svo_file(svo_filepath)
             self.camera_params = sl.InitParameters(input_t=input_type, svo_real_time_mode=False)
 
-        self.camera_params.camera_resolution = Zed2i.resolution_to_identifier_dict[resolution]
+        self.camera_params.camera_resolution = Zed.resolution_to_identifier_dict[resolution]
         self.camera_params.camera_fps = fps
         # https://www.stereolabs.com/docs/depth-sensing/depth-settings/
         self.camera_params.depth_mode = depth_mode
@@ -123,7 +122,7 @@ def __init__(  # type: ignore[no-any-unimported]
             status = self.camera.open(self.camera_params)
             if status == sl.ERROR_CODE.SUCCESS:
                 break
-            logger.info(f"Opening Zed2i camera failed, attempt {i + 1}/{N_OPEN_ATTEMPTS}")
+            logger.info(f"Opening Zed camera failed, attempt {i + 1}/{N_OPEN_ATTEMPTS}")
             if self.serial_number:
                 logger.info(f"Rebooting {self.serial_number}")
                 sl.Camera.reboot(self.serial_number)
@@ -132,7 +131,7 @@ def __init__(  # type: ignore[no-any-unimported]
             self.camera = sl.Camera()
 
         if status != sl.ERROR_CODE.SUCCESS:
-            raise IndexError(f"Could not open Zed2i camera, error = {status}")
+            raise IndexError(f"Could not open Zed camera, error = {status}")
 
         # TODO: create a configuration class for the runtime parameters
         self.runtime_params = sl.RuntimeParameters()
@@ -295,11 +294,6 @@ def __exit__(self, exc_type: Any, exc_value: Any, traceback: Any) -> None:
         self.camera.close()
 
 
-@deprecated("Use Zed instead.")
-class Zed2i(Zed):
-    """Present for backwards compatibility, use Zed instead."""
-
-
 def _test_zed_implementation() -> None:
     """this script serves as a 'test' for the zed implementation."""
     from airo_camera_toolkit.cameras.manual_test_hw import manual_test_stereo_rgbd_camera, profile_rgb_throughput

airo-camera-toolkit/airo_camera_toolkit/cameras/zed/zed2i.py

@@ -1,6 +1,13 @@
 """This file is present for backwards compatibility, when we only supported Zed2i cameras, and the Zed2i class was in this file."""
 from airo_camera_toolkit.cameras.zed.zed import *  # noqa: F401, F403
-from airo_camera_toolkit.cameras.zed.zed import _test_zed_implementation
+from airo_camera_toolkit.cameras.zed.zed import Zed, _test_zed_implementation
+from typing_extensions import deprecated
+
+
+@deprecated("Use Zed instead.")
+class Zed2i(Zed):
+    """Present for backwards compatibility, use Zed instead."""
+
 
 if __name__ == "__main__":
     _test_zed_implementation()

airo-camera-toolkit/scripts/live_charuco_pose.py

@@ -1,9 +1,9 @@
 import cv2
 from airo_camera_toolkit.calibration.fiducial_markers import detect_charuco_board, draw_frame_on_image
-from airo_camera_toolkit.cameras.zed.zed2i import Zed2i
+from airo_camera_toolkit.cameras.zed.zed import Zed
 from airo_camera_toolkit.utils.image_converter import ImageConverter
 
-camera = Zed2i(fps=30)
+camera = Zed(fps=30)
 intrinsics = camera.intrinsics_matrix()
 
 window_name = "Charuco Pose"