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add ZED_PC_MODE for point cloud bandwidth control

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Three modes: FULL (full HxW grid, zero-copy), HALF (stride-2
downsample, ~4x reduction), ROI (valid points within detected
bounding boxes, flat [N,4] array). Parsed once before the event loop.
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cristhian aguilera
2026-03-28 11:15:38 -03:00
parent 2d10a68527
commit 5e30b65416
3 changed files with 70 additions and 8 deletions
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README.md
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@@ -102,6 +102,7 @@ Set-ExecutionPolicy -Scope Process -ExecutionPolicy Bypass
| `ZED_ONNX_TEXT_ENCODER_PATH` | _(required for open-vocab)_ | (`open_vocab`) Path to `clip_text_encoder.onnx`. Required when the visual model has two inputs (`images` + `text_feats`) |
| `ZED_ONNX_CLIP_VOCAB` | _(required for open-vocab)_ | (`open_vocab`) Path to `clip_vocab.txt` BPE vocabulary file |
| `ZED_ONNX_CLIP_MERGES` | _(required for open-vocab)_ | (`open_vocab`) Path to `clip_merges.txt` BPE merge rules file |
| `ZED_PC_MODE` | `FULL` | Point cloud output mode: `FULL` (full HxW grid), `HALF` (stride-2 downsample, ~4× smaller), or `ROI` (valid points within detected bounding boxes only, flat list) |
## Inputs
@@ -118,7 +119,15 @@ BGR image as raw bytes. Metadata includes `shape` (HxWx3), `encoding` (`bgr8`),
### `point_cloud`
XYZRGBA point cloud as float32 bytes. Metadata includes `shape` (HxWx4), `units` (`mm`), and camera intrinsics.
XYZRGBA point cloud as float32 bytes. Controlled by `ZED_PC_MODE`:
| Mode | Shape | Layout | Description |
|---|---|---|---|
| `FULL` | `[H, W, 4]` | `HWC` | Full resolution grid (default). ~14.7 MB/frame at 720p |
| `HALF` | `[H/2, W/2, 4]` | `HWC` | Stride-2 downsample (~4× smaller) |
| `ROI` | `[N, 4]` | `NC` | Valid points within detected object bounding boxes only. `N` varies by scene. Metadata includes `mode=roi` |
Metadata includes `units` (`mm`) and camera intrinsics.
### `camera_info`