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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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src/zed/camera.cc
+14 -39
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@@ -1,8 +1,7 @@
#include "zed/camera.h"
#include "util/env.h"
#include <cctype>
#include <chrono>
#include <cstdlib>
#include <iostream>
#include <iterator>
#include <string>
@@ -10,34 +9,6 @@
namespace {
int get_env_int(const char* name, int default_value) {
const char* value = std::getenv(name);
if (!value || std::string(value).empty()) {
return default_value;
}
return std::stoi(value);
}
bool get_env_bool(const char* name, bool default_value) {
const char* value = std::getenv(name);
if (!value || std::string(value).empty()) {
return default_value;
}
std::string v(value);
for (auto& c : v) {
c = static_cast<char>(std::tolower(c));
}
return v == "1" || v == "true" || v == "yes" || v == "on";
}
std::string get_env_str(const char* name, const std::string& default_value) {
const char* value = std::getenv(name);
if (!value || std::string(value).empty()) {
return default_value;
}
return std::string(value);
}
sl::RESOLUTION parse_resolution(int resolution) {
switch (resolution) {
case 1080:
@@ -86,15 +57,15 @@ namespace zed {
Config Config::from_env() {
Config c;
c.resolution = get_env_int("ZED_RESOLUTION", c.resolution);
c.fps = get_env_int("ZED_FPS", c.fps);
c.depth_mode = get_env_str("ZED_DEPTH_MODE", c.depth_mode);
c.depth_min_mm = get_env_int("ZED_DEPTH_MIN_MM", c.depth_min_mm);
c.depth_max_mm = get_env_int("ZED_DEPTH_MAX_MM", c.depth_max_mm);
c.depth_fill = get_env_bool("ZED_DEPTH_FILL", c.depth_fill);
c.flip = get_env_str("ZED_FLIP", c.flip);
c.warmup_frames = get_env_int("ZED_WARMUP_FRAMES", c.warmup_frames);
int retry_seconds = get_env_int("ZED_RETRY_INTERVAL_SECONDS", 5);
c.resolution = util::get_env_int("ZED_RESOLUTION", c.resolution);
c.fps = util::get_env_int("ZED_FPS", c.fps);
c.depth_mode = util::get_env_str("ZED_DEPTH_MODE", c.depth_mode);
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.flip = util::get_env_str("ZED_FLIP", c.flip);
c.warmup_frames = util::get_env_int("ZED_WARMUP_FRAMES", c.warmup_frames);
int retry_seconds = util::get_env_int("ZED_RETRY_INTERVAL_SECONDS", 5);
c.retry_interval_ms = retry_seconds * 1000;
return c;
}
@@ -172,4 +143,8 @@ sl::Mat& Camera::point_cloud() {
return point_cloud_mat_;
}
sl::Camera& Camera::handle() {
return zed_;
}
} // namespace zed