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make point_cloud optional and publish camera_info once per session

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ZED_POINT_CLOUD, off by default, gates both retrieveMeasure(XYZRGBA) and the
point_cloud output; when off the measure is not retrieved at all. At 1080p a
full cloud is ~14.7 MB per frame and costs capture time whether or not anything
consumes it, and consumers that need 3D can back-project depth instead.

camera_info now goes out once per camera session rather than on every frame:
fx, fy, cx, cy and the distortion coefficients are fixed for a given camera and
resolution, so repeating them per frame adds no information. It rides the first
frame after the camera opens, and again after a reconnection, so it still
carries that frame's timestamps.

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 09:21:11 -03:00
co-authored by Claude Opus 5
parent 617b8ceb50
commit 42c2b791fd
5 changed files with 84 additions and 56 deletions
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README.md
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@@ -111,9 +111,19 @@ against, so depth quality on the robot matches what it expects.
### Point cloud
Off by default. With `ZED_POINT_CLOUD` unset the XYZRGBA measure is not retrieved at all
and no `point_cloud` output is published — at 1080p a full cloud is roughly 14.7 MB per
frame, and retrieving it costs capture time whether or not anything consumes it.
Consumers that need 3D back-project `depth` with the published intrinsics instead.
| Variable | Default | Description |
|---|---|---|
| `ZED_POINT_CLOUD` | `false` | Retrieve and publish the point cloud |
| `ZED_PC_MODE` | `FULL` | Only applies when `ZED_POINT_CLOUD` is on |
| `ZED_PC_MODE` | Shape | Description |
|---|---|---|
| `FULL` (default) | `[H, W, 4]` | Full resolution grid (~14.7 MB/frame at 720p) |
| `FULL` (default) | `[H, W, 4]` | Full resolution grid (~14.7 MB/frame at 1080p) |
| `HALF` | `[H/2, W/2, 4]` | Stride-2 downsample (~4× smaller) |
## Inputs
@@ -128,8 +138,8 @@ against, so depth quality on the robot matches what it expects.
|---|---|---|
| `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. |
| `point_cloud` | `float32 [*, 4]` | XYZRGBA point cloud, only when `ZED_POINT_CLOUD` is on. Shape depends on `ZED_PC_MODE`. Metadata: `units=mm`, intrinsics, timestamps. |
| `camera_info` | `float32 [4]` | `[fx, fy, cx, cy]`. Metadata: `distortion` coefficients, timestamps. Published **once per camera session** — with the first frame after the camera opens, and again after a reconnection — not on every frame, since the intrinsics are fixed for a given camera and resolution. |
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.