cristhian/dora_littlehand
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Working calibration

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This commit is contained in:
cristhian aguilera
2026-01-30 16:40:06 -03:00
parent 610c43e16d
commit 61bc384826
17 changed files with 1717 additions and 6 deletions
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24
dora_zed_cpp/DoraTargets.cmake
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@@ -1,11 +1,11 @@
set(DORA_ROOT_DIR "/home/cristhian/workspace/garbage/dora" CACHE FILEPATH "Path to the root of dora")
set(DORA_ROOT_DIR "" CACHE FILEPATH "Path to the root of dora")
set(dora_c_include_dir "${CMAKE_CURRENT_BINARY_DIR}/include/c")
set(dora_cxx_include_dir "${CMAKE_CURRENT_BINARY_DIR}/include/cxx")
set(node_bridge "${CMAKE_CURRENT_BINARY_DIR}/node_bridge.cc")
if(DORA_ROOT_DIR)
if(DORA_ROOT_DIR AND EXISTS "${DORA_ROOT_DIR}/Cargo.toml")
include(ExternalProject)
ExternalProject_Add(Dora
SOURCE_DIR ${DORA_ROOT_DIR}
@@ -40,10 +40,28 @@ if(DORA_ROOT_DIR)
set(dora_link_dirs ${DORA_ROOT_DIR}/target/debug)
else()
include(ExternalProject)
set(DORA_GIT_TAG "main")
find_program(DORA_CLI dora)
if(DORA_CLI)
execute_process(
COMMAND ${DORA_CLI} --version
RESULT_VARIABLE _dora_version_result
OUTPUT_VARIABLE _dora_version_out
ERROR_VARIABLE _dora_version_err
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(_dora_version_result EQUAL 0)
string(REGEX MATCH "([0-9]+\\.[0-9]+\\.[0-9]+)" _dora_version_match "${_dora_version_out}")
if(_dora_version_match)
set(DORA_GIT_TAG "v${CMAKE_MATCH_1}")
endif()
endif()
endif()
ExternalProject_Add(Dora
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/dora
GIT_REPOSITORY https://github.com/dora-rs/dora.git
GIT_TAG main
GIT_TAG ${DORA_GIT_TAG}
BUILD_IN_SOURCE True
CONFIGURE_COMMAND ""
BUILD_COMMAND

7
dora_zed_cpp/main.cc
View File

@@ -189,6 +189,7 @@ int main() {
auto [fx, fy, cx, cy, distortion] = reload_calibration();
int64_t frame_id = 0;
while (true) {
auto event = dora_node.events->next();
auto type = event_type(event);
@@ -237,6 +238,12 @@ int main() {
image_metadata->set_float("cx", cx);
image_metadata->set_float("cy", cy);
image_metadata->set_list_float("distortion", make_distortion(distortion));
image_metadata->set_int("frame_id", frame_id++);
image_metadata->set_int("timestamp_ns", static_cast<int64_t>(
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::steady_clock::now().time_since_epoch()
).count()
));
auto image_result = send_output_with_metadata(
dora_node.send_output, "image_bgr", image_slice, std::move(image_metadata));