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dora_zed_cpp/README.md

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+# dora_zed_cpp
+
+C++ Dora node for ZED camera streaming.
+
+## Build & run
+
+From the repo root:
+
+```bash
+cmake -S dora_zed_cpp -B dora_zed_cpp/build
+cmake --build dora_zed_cpp/build
+
+dora run dataflow_zed_cpp.yml
+```
+
+## Configuration (env)
+
+- `ZED_RESOLUTION` (720, 1080, 2000)
+- `ZED_FPS` (default 15)
+- `ZED_DEPTH_MODE` (NEURAL, PERFORMANCE, QUALITY, NONE)
+- `ZED_DEPTH_MIN_MM` (default 10)
+- `ZED_DEPTH_MAX_MM` (default 500)
+- `ZED_DEPTH_FILL` (true/false, default false)
+- `ZED_FLIP` (ON/OFF, default ON)
+- `ZED_WARMUP_FRAMES` (default 30)
+
+## Outputs
+
+- `image_bgr` raw bytes, metadata: `shape`, `dtype`, `encoding`, `layout`, and intrinsics (`fx`, `fy`, `cx`, `cy`, `distortion`)
+- `point_cloud` raw bytes, metadata: `shape`, `dtype`, `channels`, `units`, `layout`, and intrinsics
+- `camera_info` raw bytes (4 floats: fx, fy, cx, cy), metadata includes `distortion`