First commit

2026-01-28 16:21:37 -03:00
parent 2da5baf508
commit 610c43e16d
17 changed files with 2113 additions and 2 deletions
--- a/dataflow_zed_cpp.yml
+++ b/dataflow_zed_cpp.yml
@@ -0,0 +1,30 @@
+nodes:
+  - id: zed_camera_cpp
+    build: bash -lc "cmake -S dora_zed_cpp -B dora_zed_cpp/build && cmake --build dora_zed_cpp/build"
+    path: dora_zed_cpp/build/dora_zed_cpp
+    env:
+      ZED_RESOLUTION: "720"
+      ZED_FPS: "15"
+      ZED_DEPTH_MODE: "NEURAL"
+      ZED_DEPTH_MIN_MM: "10"
+      ZED_DEPTH_MAX_MM: "500"
+      ZED_DEPTH_FILL: "false"
+      ZED_FLIP: "ON"
+      ZED_WARMUP_FRAMES: "30"
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image_bgr
+      - point_cloud
+      - camera_info
+  - id: image_viewer
+    build: |
+      uv venv -p 3.12 --seed --allow-existing
+      uv pip install -e dora_image_viewer
+    path: dora_image_viewer/dora_image_viewer/main.py
+    env:
+      VIRTUAL_ENV: ./.venv
+      PLOT_WIDTH: 1280
+      PLOT_HEIGHT: 720
+    inputs:
+      image: zed_camera_cpp/image_bgr