From 2f55ca3f744a4a41919fc9154db073af97d79a15 Mon Sep 17 00:00:00 2001 From: cesar Date: Tue, 8 Sep 2026 09:35:09 -0300 Subject: [PATCH] docs: correct the output summaries and drop a duplicated paragraph The README and AGENTS intros still described the v0.1.0 output set. Also removes a copy of the point-cloud rationale that ended up orphaned after the recovery section landed above it, and narrows the timestamp section to the frame outputs, since camera_state carries only the host clock. Co-Authored-By: Claude Opus 5 Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c --- AGENTS.md | 2 +- README.md | 10 ++++------ 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/AGENTS.md b/AGENTS.md index 1c14d96..550a7c4 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -4,7 +4,7 @@ This file provides guidance to AI coding assistants when working with code in th ## What this is -A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes it over the dora dataflow: a BGR image, an XYZRGBA point cloud and camera intrinsics. Camera management lives in `src/zed/` and the dora event loop in `src/main.cc`. +A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes it over the dora dataflow: a BGR image and a depth map every frame, camera intrinsics once per camera session, a camera state on every transition, and an XYZRGBA point cloud when `ZED_POINT_CLOUD` is on. Camera management lives in `src/zed/` and the dora event loop in `src/main.cc`. The node is a camera source only. It ran inference in-process through `v0.1.0`, under `src/engines/`; that was removed so the node has no inference dependency and builds on any platform the ZED SDK supports. The removed code remains reachable at tag `v0.1.0`. diff --git a/README.md b/README.md index 62facbe..598da51 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # dora-zed -Dora node for ZED stereo cameras. Publishes BGR images, point clouds and camera intrinsics. +Dora node for ZED stereo cameras. Publishes a BGR image and a depth map on every frame, plus camera intrinsics, a camera state, and an optional point cloud. ## Usage @@ -196,13 +196,11 @@ it. That call reaches the ZED 2 and newer only; on the first-generation ZED and Mini the node closes the handle and lets the backoff give the endpoint time to clear. Every attempt and every escalation is logged. - -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: +Every frame output — `image_bgr`, `depth`, `point_cloud` and `camera_info` — carries both +clocks, as dora `timestamp` metadata parameters. `camera_state` carries +`host_timestamp_ns` only, since it is not tied to a frame. | Key | Epoch | Unit | Source | |---|---|---|---|