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add depth configuration parity with the reference driver

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parse_depth_mode returned NEURAL for any unrecognised string, so a typo
silently changed depth quality, and NEURAL_PLUS and NEURAL_LIGHT could not be
selected at all. All six modes are now reachable and an unknown name exits
non-zero listing the accepted values.

Parsing moves into Config::from_env() and main reads the configuration before
init_dora_node(), so a bad value fails with its own message instead of after
the node has registered with the dataflow.

Add ZED_CONFIDENCE_THRESHOLD (60) and ZED_TEXTURE_CONFIDENCE_THRESHOLD (100),
which were never set, and change the defaults to 1080 / 200 mm / 600 mm to
match the reference driver perception was tuned against. The resolved settings
are logged at startup.

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 09:20:01 -03:00
co-authored by Claude Opus 5
parent 15134dc12e
commit 617b8ceb50
5 changed files with 61 additions and 22 deletions
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README.md
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@@ -93,16 +93,22 @@ All behavior is controlled via environment variables.
| Variable | Default | Description |
|---|---|---|
| `ZED_RESOLUTION` | `720` | `720`, `1080`, or `2000` |
| `ZED_RESOLUTION` | `1080` | `720`, `1080`, or `2000` |
| `ZED_FPS` | `15` | Frame rate |
| `ZED_DEPTH_MODE` | `NEURAL` | `PERFORMANCE`, `QUALITY`, `NEURAL`, or `NONE` |
| `ZED_DEPTH_MIN_MM` | `10` | Minimum depth (mm) |
| `ZED_DEPTH_MAX_MM` | `500` | Maximum depth (mm) |
| `ZED_DEPTH_FILL` | `false` | Enable depth fill mode |
| `ZED_DEPTH_MODE` | `NEURAL` | `NEURAL`, `NEURAL_PLUS`, `NEURAL_LIGHT`, `PERFORMANCE`, `QUALITY`, or `NONE`. An unrecognised value is a startup error, not a fallback. |
| `ZED_DEPTH_MIN_MM` | `200` | Minimum depth (mm) |
| `ZED_DEPTH_MAX_MM` | `600` | Maximum depth (mm) |
| `ZED_CONFIDENCE_THRESHOLD` | `60` | Reject depth less certain than this (1–100, lower is stricter) |
| `ZED_TEXTURE_CONFIDENCE_THRESHOLD` | `100` | Reject depth on surfaces less textured than this (1–100) |
| `ZED_DEPTH_FILL` | `false` | Interpolate depth over holes. Overrides both confidence thresholds. |
| `ZED_FLIP` | `ON` | `ON` or `OFF` |
| `ZED_WARMUP_FRAMES` | `30` | Frames to discard on startup |
| `ZED_RETRY_INTERVAL_SECONDS` | `5` | Reconnection interval (s) |
The resolved depth mode, both confidence thresholds and the depth range are logged at
startup. The defaults match the reference camera driver the perception stack was tuned
against, so depth quality on the robot matches what it expects.
### Point cloud
| `ZED_PC_MODE` | Shape | Description |