# 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`