Ivan/feat/cameracalibrator go2

[leshy]

builds upon april tag camera calibrator (#2107) makes it usable with go2

• Pubsub topic string registry - very quickly vibed, we need string -> Pubsub subscribable topic function for specifying topics via cli, config etc, will iterate on this, let us ignore for now
• Live topic source. --source topic --topic <proto>:<channel> subscribes to a running pubsub stream
• Fisheye distortion model. --distortion-model {plumb_bob,fisheye} (default plumb_bob for back-compat)
• New Go2 front camera calibration. dimos/robot/unitree/go2/front_camera_720.yaml, fit with the new fisheye path and consumed by GO2Connection via CameraInfo.from_yaml. Moves out of params/ and into the go2 package directory so it ships as a packaged resource
• Removes references to base_link from marker detector module - it just needs to know about world -> optical_frame
• Passes emit_every arg to global mapper reduces speed to 1-2hz for global map just to chill a bit
• Switches go2 sensor data to system timestamps having annoying issues aligning frames (image from webrtc with sensor data from go2, go2 onboard timestamps are also very flakey depending on a firmware)
• Fixes dimos topic echo - was broken for a while

uv run dimos cameracalibrate --source topic --topic "jpeg_lcm:/color_image" --cols 9 --rows 6 --square-size-m 0.02 --out ./camera_info.yaml

[greptile-apps]

Greptile Summary

This PR extends the camera calibrator to support a live pubsub topic source (--source topic) and a fisheye/equidistant distortion model, then consumes both in a fresh Go2 front-camera calibration file. It also simplifies MarkerTfModule to do a direct world → optical TF lookup, switches Go2 sensor data to system timestamps, and fixes the dimos topic echo command.

• Fisheye calibration pipeline: adds DistortionModel.fisheye that routes through cv2.fisheye.calibrate, writes ROS equidistant to YAML, and undistorts corners in estimate_marker_pose before calling solvePnP — the analytical SOLVEPNP_IPPE_SQUARE solver is preserved for both paths.
• Topic frame source: _capture_frames_from_topic subscribes via the new pubsub/registry.py, feeds frames into the shared _interactive_capture loop, and tears down the transport in a finally block.
• Go2 plumbing: GO2Connection now loads front_camera_720.yaml (equidistant, 4 coefficients) via importlib.resources.as_file, and odometry/lidar/video streams stamp frames with time.time() to improve cross-stream alignment.

Confidence Score: 4/5

Safe to merge with awareness that the duplicate-frame-on-SPACE bug in the topic source remains unaddressed and will silently inflate calibration view counts.

The fisheye calibration path, direct world→optical TF lookup, and Go2 YAML resource loading all look correct. The outstanding concern is that _capture_frames_from_topic._next() never clears latest_frame[0] after returning it, so rapid SPACE presses before a new frame arrives can silently add the same frame to accepted multiple times.

dimos/utils/cli/cameracalibrate/cameracalibrate.py (_next() frame-clearing logic), dimos/protocol/tf/tf.py (warning log level)

Important Files Changed

Filename	Overview
dimos/utils/cli/cameracalibrate/cameracalibrate.py	Major refactor: adds DistortionModel enum, fisheye calibration path via cv2.fisheye.calibrate, topic frame source with threading, and shared _interactive_capture loop. Duplicate-frame-on-SPACE issue for topic source (latest_frame not cleared) remains from previous review.
dimos/perception/fiducial/marker_tf_module.py	base_link hop removed in favour of direct world→optical lookup; fisheye undistortion path added with proper ≥4-coeff guard and cv2.fisheye.undistortPoints before solvePnP; SOLVEPNP_IPPE_SQUARE preserved for both paths.
dimos/protocol/tf/tf.py	get() signature made explicit (fixes previous IndexError); identity transform short-circuit added for same-frame lookups; logger.warning() on every failed lookup may be too noisy at frame rates.
dimos/protocol/pubsub/registry.py	New pubsub URI registry mapping proto:topic strings to transport instances; well-tested.
dimos/robot/unitree/go2/connection.py	Replaces hard-coded pinhole intrinsics with CameraInfo.from_yaml; correctly uses importlib.resources.as_file() for zip-safe resource access.
dimos/robot/cli/topic.py	Fixes topic echo by importing the message submodule directly rather than the parent package.
dimos/robot/unitree/go2/front_camera_720.yaml	New Go2 front camera calibration with equidistant distortion model, 4 Kannala-Brandt coefficients, camera_name set to go2_front_camera_720p.

_{Reviews (14): Last reviewed commit: "Merge branch 'main' into ivan/feat/camer..." | Re-trigger Greptile}