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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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src/zed/camera.h
+6 -4
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@@ -8,12 +8,14 @@
namespace zed {
struct Config {
int resolution = 720;
int resolution = 1080;
int fps = 15;
std::string depth_mode = "NEURAL";
int depth_min_mm = 10;
int depth_max_mm = 500;
sl::DEPTH_MODE depth_mode = sl::DEPTH_MODE::NEURAL;
int depth_min_mm = 200;
int depth_max_mm = 600;
bool depth_fill = false;
int confidence_threshold = 60;
int texture_confidence_threshold = 100;
std::string flip = "ON";
int warmup_frames = 30;
int retry_interval_ms = 5000;