Inheritance and abstract class fixes for stereo

[alexlin2]

-Fixed Stash and Ivan's comments about stereo camera inheritance
-renamed "stereo" to "depth" camera since most depth cameras are not stereo

[greptile-apps]

Greptile Summary

Renamed stereo camera classes to depth camera classes and fixed inheritance structure by adding perception.DepthCamera protocol to RealSenseCamera and ZEDCamera.

Major Changes:

• Renamed StereoCamera → DepthCameraHardware and StereoCameraConfig → DepthCameraConfig to better reflect that most depth cameras are not stereo cameras
• Added perception.DepthCamera protocol with depth_image and depth_camera_info outputs
• Updated RealSenseCamera and ZEDCamera to inherit from DepthCameraHardware, Module, and perception.DepthCamera
• Standardized camera config parameters: frequency → fps, frame_width/frame_height → width/height
• Moved width, height, and fps fields up to base CameraConfig protocol
• Added proper handling for fps <= 0 case in webcam capture loop

Issues Found:

• DepthCameraConfig should be marked as a Protocol since it inherits from CameraConfig (which is a Protocol) and only defines structural requirements without implementations

Confidence Score: 4/5

• This PR is safe to merge with minor type-checking concerns
• The refactoring properly addresses the inheritance issues and renames stereo to depth camera throughout the codebase. The changes are consistent and well-structured. However, there is one syntax issue where DepthCameraConfig should be marked as a Protocol to maintain proper type-checking behavior, which prevents a perfect score.
• Pay close attention to dimos/hardware/sensors/camera/spec.py - the DepthCameraConfig class needs the Protocol designation

Important Files Changed

Filename	Overview
dimos/hardware/sensors/camera/spec.py	Renamed StereoCamera to DepthCamera classes, added standardized config fields (width, height, fps) to CameraConfig, but DepthCameraConfig lost Protocol designation which could cause type checking issues
dimos/hardware/sensors/camera/realsense/camera.py	Updated imports and class names from Stereo to Depth, added perception.DepthCamera to inheritance chain for proper type support
dimos/hardware/sensors/camera/zed/camera.py	Updated imports and class names from Stereo to Depth, added perception.DepthCamera to inheritance chain for proper type support
dimos/spec/perception.py	Added DepthCamera protocol with depth_image and depth_camera_info outputs, extending Camera protocol
dimos/hardware/sensors/camera/webcam.py	Standardized config parameters (frequency→fps, frame_width/frame_height→width/height) and added proper handling for fps<=0 case

Sequence Diagram

sequenceDiagram
    participant User
    participant RealSenseCamera
    participant DepthCameraHardware
    participant Module
    participant DepthCamera as perception.DepthCamera
    
    Note over RealSenseCamera,DepthCamera: Inheritance Chain
    RealSenseCamera->>DepthCameraHardware: inherits abstract methods
    RealSenseCamera->>Module: inherits module functionality
    RealSenseCamera->>DepthCamera: implements protocol
    
    User->>RealSenseCamera: instantiate with config
    Note over RealSenseCamera: RealSenseCameraConfig extends<br/>ModuleConfig + DepthCameraConfig
    
    User->>RealSenseCamera: start()
    RealSenseCamera->>RealSenseCamera: initialize pipeline
    RealSenseCamera->>RealSenseCamera: build camera info
    RealSenseCamera->>RealSenseCamera: start capture thread
    
    loop Capture Loop
        RealSenseCamera->>RealSenseCamera: wait_for_frames()
        RealSenseCamera->>DepthCamera: publish(color_image)
        RealSenseCamera->>DepthCamera: publish(depth_image)
        RealSenseCamera->>Module: publish(tf transforms)
    end
    
    User->>RealSenseCamera: get_color_camera_info()
    RealSenseCamera-->>User: CameraInfo
    User->>RealSenseCamera: get_depth_camera_info()
    RealSenseCamera-->>User: CameraInfo
    User->>RealSenseCamera: get_depth_scale()
    RealSenseCamera-->>User: float

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[greptile-apps]

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[greptile-apps]

syntax: DepthCameraConfig should be marked as a Protocol since it inherits from CameraConfig (which is a Protocol) and only defines structural requirements without implementations

Suggested change

	class DepthCameraConfig(CameraConfig):
	class DepthCameraConfig(CameraConfig, Protocol):

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}