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