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add native 3D object detection using ZED SDK optimized models

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Add engines::ZedNative class wrapping ZED SDK's TensorRT-optimized
object detection. On every frame grab, detected objects (label,
confidence, 3D position, 2D/3D bounding boxes) are serialized as a
flat float32 array and sent as a new "objects" dora output with
frame_id correlation to image_bgr.

Extract shared env-var helpers into src/util/env.h and expose
sl::Camera& via Camera::handle() for engine access.

Closes #3
This commit is contained in:
cristhian aguilera
2026-03-26 10:53:38 -03:00
parent 55a87d3a14
commit 6e6dc8ef27
10 changed files with 303 additions and 53 deletions
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CMakeLists.txt
+1 -1
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@@ -16,7 +16,7 @@ find_package(OpenCV REQUIRED)
link_directories(${dora_link_dirs})
link_directories(${ZED_LIBRARY_DIR})
add_executable(dora_zed src/main.cc src/zed/camera.cc ${node_bridge})
add_executable(dora_zed src/main.cc src/zed/camera.cc src/engines/zed_native.cc ${node_bridge})
add_dependencies(dora_zed Dora_cxx)
target_include_directories(