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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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7
dora_zed_cpp/main.cc
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@@ -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));