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