ZED_POINT_CLOUD, off by default, gates both retrieveMeasure(XYZRGBA) and the
point_cloud output; when off the measure is not retrieved at all. At 1080p a
full cloud is ~14.7 MB per frame and costs capture time whether or not anything
consumes it, and consumers that need 3D can back-project depth instead.
camera_info now goes out once per camera session rather than on every frame:
fx, fy, cx, cy and the distortion coefficients are fixed for a given camera and
resolution, so repeating them per frame adds no information. It rides the first
frame after the camera opens, and again after a reconnection, so it still
carries that frame's timestamps.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
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
Publish sl::MEASURE::DEPTH as float32 [H, W] millimetres on every frame that
carries image_bgr, with the intrinsics, frame_id and timestamps the other
outputs carry.
The map is copied out rather than published in place: sl::Mat rows can be
padded, so the buffer is not necessarily H * W floats. inf and nan are cleared
to 0 in the same pass, matching the reference driver — a hole is meaningful and
a consumer cannot back-project a non-finite value.
Consumers that need 3D can now back-project depth with the published
intrinsics instead of receiving a point cloud.
Also drops the stale objects entry from the dataflow outputs, missed when
detection was removed.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
steady_clock's epoch is unspecified and typically counts from process start or
boot, so the published timestamp_ns could not be compared against another
node's timestamps, wall clock or a recording — and it recorded when the node
processed the frame rather than when the camera captured it.
Publish two keys on every output instead: device_timestamp_ns from
sl::Camera::getTimestamp(TIME_REFERENCE::IMAGE), and host_timestamp_ns from
system_clock. Both are Unix-epoch nanoseconds, set as dora timestamp
parameters. The SDK clock source is pinned to SYSTEM_CLOCK at construction,
since it is process-wide and decides the epoch of the device value.
Both are kept because the wall clock can step when NTP synchronises after boot
on a Jetson, while the device timestamp is what two nodes reading the same
frame can agree on.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
dora-zed publishes camera data only. The two engines under src/engines/, the
objects output, the ZED_ENGINE/ZED_DETECTION_*/ZED_ONNX_* variables and the
ZED_PC_MODE=ROI crop are gone, along with the standalone engine test and the
model export script.
This drops the unconditional ONNX Runtime requirement from CMakeLists, the
Dockerfile and the install scripts, so the node now configures on a machine
with no ONNX Runtime — which is what blocked the Jetson build, since there is
no official ARM64 GPU binary.
zed_native is dropped rather than kept: it is bound to the live camera handle
and cannot run in a node that receives images over a dataflow. The removed
code remains reachable at tag v0.1.0.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
dora 1.0 runs a node's build command directly rather than through a shell, so
the mkdir/cd/&& sequence in dataflow.yml could not work. Move it to
scripts/build.sh and invoke that instead.
Default CMAKE_BUILD_TYPE to Release so DoraTargets.cmake picks the release
cargo profile and the binary does not link debug dora bindings.
Pin the dataflow source with tag: — 1.0 replaced git_checkout with the
mutually exclusive tag/rev/branch.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
