Zed2i -> Zed rename (#152)

* Zed2i -> Zed rename, keep Zed2i and zed2i module for backwards compatibility

* Update CHANGELOG.md

* Add @deprecated decorator to Zed2i

* Add -> None type annotation

* update camera readme

* Rename all occurrences of Zed2i to Zed in airo-mono

---------

Co-authored-by: Thomas Lips <[email protected]>

CHANGELOG.md

@@ -31,6 +31,7 @@ This project uses a [CalVer](https://calver.org/) versioning scheme with monthly
 - Dropped support for python 3.8 and added 3.11 to the testing matrix [#103](https://github.com/airo-ugent/airo-mono/issues/103).
 - Set python version to 3.10 because of an issue with the `ur_rtde` wheels [#121](https://github.com/airo-ugent/airo-mono/issues/121). Updated README.md to reflect this change.
 - `URrtde` will now try connecting to do control interface up to 3 times before raising a `RuntimeError`.
+- Renamed `Zed2i` to `Zed` and `zed2i.py` to `zed.py`, but kept the old names as aliases for backwards compatibility
 
 ### Fixed
 - Fixed bug in `get_colored_point_cloud()` that removed some points see issue #25.

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/README.md

@@ -2,7 +2,7 @@
 # Cameras
 This subpackage contains implementations of the camera interface for the cameras we have at AIRO.
 
-- ZED 2i
+- ZED 2 series
 - Realsense D400 series
 
 It also contains code to enable multiprocessed use of the camera streams: [multiprocessed camera](./multiprocess/)
@@ -24,5 +24,5 @@ Each camera implementation can be run as a script and will execute the relevant
 For example, to test your ZED installation:
 ```
 conda activate airo-mono
-python3 zed2i.py
-```
+python3 zed.py
+```

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: