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add a depth output

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Publish sl::MEASURE::DEPTH as float32 [H, W] millimetres on every frame that
carries image_bgr, with the intrinsics, frame_id and timestamps the other
outputs carry.

The map is copied out rather than published in place: sl::Mat rows can be
padded, so the buffer is not necessarily H * W floats. inf and nan are cleared
to 0 in the same pass, matching the reference driver — a hole is meaningful and
a consumer cannot back-project a non-finite value.

Consumers that need 3D can now back-project depth with the published
intrinsics instead of receiving a point cloud.

Also drops the stale objects entry from the dataflow outputs, missed when
detection was removed.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
This commit is contained in:
cesar
2026-09-08 09:17:36 -03:00
co-authored by Claude Opus 5
parent dc7f9f5501
commit 15134dc12e
6 changed files with 64 additions and 3 deletions
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README.md
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@@ -17,6 +17,7 @@ nodes:
tick: dora/timer/millis/100
outputs:
- image_bgr
- depth
- point_cloud
- camera_info
```
@@ -120,9 +121,13 @@ All behavior is controlled via environment variables.
| Output | Type | Description |
|---|---|---|
| `image_bgr` | `uint8 [H, W, 3]` | BGR image. Metadata: `shape`, `encoding=bgr8`, intrinsics, timestamps. |
| `depth` | `float32 [H, W]` | Per-pixel depth in millimetres, published on every frame `image_bgr` is. Metadata: `dtype`, `layout=HW`, `shape`, `units=mm`, intrinsics, timestamps. `H` and `W` match `image_bgr` for the same `frame_id`. Missing depth is `0` — the payload contains no `inf` and no `nan`. Holes are not interpolated unless `ZED_DEPTH_FILL` is set. |
| `point_cloud` | `float32 [*, 4]` | XYZRGBA point cloud. Shape depends on `ZED_PC_MODE`. Metadata: `units=mm`, intrinsics, timestamps. |
| `camera_info` | `float32 [4]` | `[fx, fy, cx, cy]`. Metadata: `distortion` coefficients, timestamps. |
Consumers that need 3D back-project `depth` with the published intrinsics rather than
consuming `point_cloud`; the point cloud is not a prerequisite for 3D.
### Timestamps
Every output carries both clocks, as dora `timestamp` metadata parameters: