dora_littlehand/dora_zed_cpp/README.md

dora_zed_cpp

C++ Dora node for ZED camera streaming.

Build & run

From the repo root:

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