add dora C++ node for ZED stereo camera capture

Implements a dora-rs node that captures frames from ZED cameras and publishes BGR images, XYZRGBA point clouds, and camera intrinsics. Includes CMake build system with automatic dora-rs C++ bindings, dataflow definition, and documentation.
2026-03-25 08:42:26 -03:00
parent bd9210e9a6
commit 9ac14c07e2
6 changed files with 513 additions and 0 deletions
@@ -0,0 +1,97 @@
+set(DORA_ROOT_DIR "" CACHE FILEPATH "Path to the root of dora")
+
+set(dora_c_include_dir "${CMAKE_CURRENT_BINARY_DIR}/include/c")
+
+set(dora_cxx_include_dir "${CMAKE_CURRENT_BINARY_DIR}/include/cxx")
+set(node_bridge "${CMAKE_CURRENT_BINARY_DIR}/node_bridge.cc")
+
+if(DORA_ROOT_DIR AND EXISTS "${DORA_ROOT_DIR}/Cargo.toml")
+    include(ExternalProject)
+    ExternalProject_Add(Dora
+        SOURCE_DIR ${DORA_ROOT_DIR}
+        BUILD_IN_SOURCE True
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND
+            cargo build
+            --package dora-node-api-c
+            &&
+            cargo build
+            --package dora-node-api-cxx
+        INSTALL_COMMAND ""
+    )
+
+    add_custom_command(OUTPUT ${node_bridge} ${dora_cxx_include_dir} ${dora_c_include_dir}
+        WORKING_DIRECTORY ${DORA_ROOT_DIR}
+        DEPENDS Dora
+        COMMAND
+            mkdir ${dora_cxx_include_dir} -p
+            &&
+            mkdir ${CMAKE_CURRENT_BINARY_DIR}/include/c -p
+            &&
+            cp target/cxxbridge/dora-node-api-cxx/src/lib.rs.cc ${node_bridge}
+            &&
+            cp target/cxxbridge/dora-node-api-cxx/src/lib.rs.h ${dora_cxx_include_dir}/dora-node-api.h
+            &&
+            cp apis/c/node ${CMAKE_CURRENT_BINARY_DIR}/include/c -r
+    )
+
+    add_custom_target(Dora_c DEPENDS ${dora_c_include_dir})
+    add_custom_target(Dora_cxx DEPENDS ${node_bridge} ${dora_cxx_include_dir})
+    set(dora_link_dirs ${DORA_ROOT_DIR}/target/debug)
+else()
+    include(ExternalProject)
+    set(DORA_GIT_TAG "main")
+    find_program(DORA_CLI dora)
+    if(DORA_CLI)
+        execute_process(
+            COMMAND ${DORA_CLI} --version
+            RESULT_VARIABLE _dora_version_result
+            OUTPUT_VARIABLE _dora_version_out
+            ERROR_VARIABLE _dora_version_err
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        if(_dora_version_result EQUAL 0)
+            string(REGEX MATCH "([0-9]+\\.[0-9]+\\.[0-9]+)" _dora_version_match "${_dora_version_out}")
+            if(_dora_version_match)
+                set(DORA_GIT_TAG "v${CMAKE_MATCH_1}")
+            endif()
+        endif()
+    endif()
+
+    ExternalProject_Add(Dora
+        PREFIX ${CMAKE_CURRENT_BINARY_DIR}/dora
+        GIT_REPOSITORY https://github.com/dora-rs/dora.git
+        GIT_TAG ${DORA_GIT_TAG}
+        BUILD_IN_SOURCE True
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND
+            cargo build
+            --package dora-node-api-c
+            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
+            &&
+            cargo build
+            --package dora-node-api-cxx
+            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
+        INSTALL_COMMAND ""
+    )
+
+    add_custom_command(OUTPUT ${node_bridge} ${dora_cxx_include_dir} ${dora_c_include_dir}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
+        DEPENDS Dora
+        COMMAND
+            mkdir ${CMAKE_CURRENT_BINARY_DIR}/include/c -p
+            &&
+            mkdir ${dora_cxx_include_dir} -p
+            &&
+            cp cxxbridge/dora-node-api-cxx/src/lib.rs.cc ${node_bridge}
+            &&
+            cp cxxbridge/dora-node-api-cxx/src/lib.rs.h ${dora_cxx_include_dir}/dora-node-api.h
+            &&
+            cp ../apis/c/node ${CMAKE_CURRENT_BINARY_DIR}/include/c -r
+    )
+
+    set(dora_link_dirs ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target/debug)
+
+    add_custom_target(Dora_c DEPENDS ${dora_c_include_dir})
+    add_custom_target(Dora_cxx DEPENDS ${node_bridge} ${dora_cxx_include_dir})
+endif()