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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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src/zed/camera.cc
+6 -1
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@@ -78,6 +78,7 @@ Config Config::from_env() {
c.depth_min_mm = util::get_env_int("ZED_DEPTH_MIN_MM", c.depth_min_mm);
c.depth_max_mm = util::get_env_int("ZED_DEPTH_MAX_MM", c.depth_max_mm);
c.depth_fill = util::get_env_bool("ZED_DEPTH_FILL", c.depth_fill);
c.point_cloud = util::get_env_bool("ZED_POINT_CLOUD", c.point_cloud);
c.confidence_threshold = util::get_env_int("ZED_CONFIDENCE_THRESHOLD", c.confidence_threshold);
c.texture_confidence_threshold =
util::get_env_int("ZED_TEXTURE_CONFIDENCE_THRESHOLD", c.texture_confidence_threshold);
@@ -149,7 +150,11 @@ bool Camera::grab() {
}
zed_.retrieveImage(image_mat_, sl::VIEW::LEFT);
zed_.retrieveMeasure(depth_mat_, sl::MEASURE::DEPTH);
zed_.retrieveMeasure(point_cloud_mat_, sl::MEASURE::XYZRGBA);
// At 1080p a full XYZRGBA cloud is ~14.7 MB per frame, and retrieving it
// costs capture time whether or not anything consumes it.
if (config_.point_cloud) {
zed_.retrieveMeasure(point_cloud_mat_, sl::MEASURE::XYZRGBA);
}
return true;
}