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
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 # dora-zed

+Dora C++ node for ZED stereo cameras. Captures frames and publishes BGR images, XYZRGBA point clouds, and camera intrinsics.
+
+## Usage via `git:` in a dataflow
+
+```yaml
+nodes:
+  - id: zed-camera
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
+    build: mkdir -p build && cd build && cmake .. && make install
+    path: bin/dora_zed
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image_bgr
+      - point_cloud
+      - camera_info
+```
+
+Then run:
+
+```bash
+dora build dataflow.yml
+dora up
+dora start dataflow.yml
+```
+
+## Local build
+
+```bash
+git clone ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
+cd dora-zed
+mkdir -p build && cd build
+cmake ..
+make install
+```
+
+The binary is installed to `bin/dora_zed` relative to the repository root.
+
+## Dependencies
+
+| Dependency | Minimum version | Notes |
+|---|---|---|
+| CMake | 3.21 | |
+| ZED SDK | 4.x | Default path: `/usr/local/zed` |
+| CUDA Toolkit | Required by ZED SDK | |
+| OpenCV | 4.x | |
+| Rust toolchain | stable | Used to build dora-rs C++ bindings |
+
+## Environment variables
+
+| Variable | Default | Description |
+|---|---|---|
+| `ZED_RESOLUTION` | `720` | Camera resolution: `720`, `1080`, or `2000` |
+| `ZED_FPS` | `15` | Camera frame rate |
+| `ZED_DEPTH_MODE` | `NEURAL` | Depth mode: `PERFORMANCE`, `QUALITY`, `NEURAL`, or `NONE` |
+| `ZED_DEPTH_MIN_MM` | `10` | Minimum depth distance in millimeters |
+| `ZED_DEPTH_MAX_MM` | `500` | Maximum depth distance in millimeters |
+| `ZED_DEPTH_FILL` | `false` | Enable depth fill mode |
+| `ZED_FLIP` | `ON` | Image flip: `ON` or `OFF` |
+| `ZED_WARMUP_FRAMES` | `30` | Number of warmup frames to discard |
+| `ZED_RETRY_INTERVAL_SECONDS` | `5` | Seconds between reconnection attempts |
+
+## Outputs
+
+### `image_bgr`
+BGR image as raw bytes. Metadata includes `shape` (HxWx3), `encoding` (`bgr8`), camera intrinsics (`fx`, `fy`, `cx`, `cy`), `distortion`, `frame_id`, and `timestamp_ns`.
+
+### `point_cloud`
+XYZRGBA point cloud as float32 bytes. Metadata includes `shape` (HxWx4), `units` (`mm`), and camera intrinsics.
+
+### `camera_info`
+Four float32 values: `[fx, fy, cx, cy]`. Metadata includes `distortion` coefficients.