AGENTS.md

@@ -36,7 +36,7 @@ Camera and detection behavior is configured entirely through environment variabl
 - **`src/engines/zed_native.h/cc`** — `engines::ZedNative`: wraps ZED SDK's TensorRT-optimized object detection module.
 - **`src/engines/yolo_helpers.h`** — Header-only shared helpers used by the ONNX engine: `RawDetection`, `nms()`, `letterbox()`, `fuse_bbox()`, `backproject()`. Lives in `engines::detail` namespace.
 - **`src/engines/yolo_onnx.h/cc`** — `engines::YoloOnnx` / `YoloOnnxConfig`: closed-vocabulary detection for any single-input YOLO ONNX model (YOLOv8, YOLOv11, YOLOv5, etc.). Auto-detects output layout (`NC_FIRST` / `NC_LAST` / `NC_LAST_OBJ`) from tensor shape; override with `ZED_ONNX_OUTPUT_FORMAT`. Labels loaded from `ZED_ONNX_LABELS` or `ZED_ONNX_LABELS_FILE`.
-- **`src/main.cc`** — Dora event loop. Selects engine via `ZED_ENGINE` env var (`yolo_onnx`/`onnx` or `native`), holds a `std::unique_ptr<engines::Engine>`. Parses `ZED_PC_MODE` (`FULL`/`HALF`/`ROI`) once before the loop. On `tick` input: calls `camera.grab()` and `detector->detect()`, then sends `image_bgr`, `point_cloud`, `camera_info`, and `objects` outputs. Point cloud output varies by mode: `FULL` sends the raw `sl::Mat` pointer (no copy); `HALF` downsamples by 2 in each dimension; `ROI` emits only valid points within detected bounding boxes as a flat `[N, 4]` array. Handles reconnection on grab failure.
+- **`src/main.cc`** — Dora event loop. Selects engine via `ZED_ENGINE` env var (`yolo_onnx`/`onnx` or `native`), holds a `std::unique_ptr<engines::Engine>`. Parses `ZED_PC_MODE` (`FULL`/`HALF`/`ROI`) once before the loop. On any input event (intended to be driven by a tick timer; the id is not inspected): calls `camera.grab()` and `detector->detect()`, then sends `image_bgr`, `point_cloud`, `camera_info`, and `objects` outputs. Point cloud output varies by mode: `FULL` sends the raw `sl::Mat` pointer (no copy); `HALF` downsamples by 2 in each dimension; `ROI` emits only valid points within detected bounding boxes as a flat `[N, 4]` array. Handles reconnection on grab failure.
 - **`DoraTargets.cmake`** — Handles building or fetching dora-rs and generating the CXX bridge files. Two paths: local (`DORA_ROOT_DIR`) or git clone. Produces `dora_node_api_cxx` library and the `node_bridge.cc` glue.
 - **`dataflow.yml`** — Example dora dataflow definition using the `git:` source format.
 - **`scripts/export_yolo.py`** — PEP 723 uv script. Exports a standard YOLOv11 model to ONNX for closed-vocabulary detection. Run: `uv run scripts/export_yolo.py --model n --output-dir models/`.

README.md

@@ -32,7 +32,7 @@ See [`dataflow.yml`](dataflow.yml) for a complete runnable example with a camera
 | [ZED SDK](https://www.stereolabs.com/developers/release) | 5.x | Bundles OpenCV; default path `/usr/local/zed` |
 | [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) | — | Required by ZED SDK |
 | [Rust toolchain](https://rustup.rs) | stable | Builds dora-rs C++ bindings |
-| [ONNX Runtime](https://github.com/microsoft/onnxruntime/releases) | 1.20+ | Required only for the `yolo_onnx` engine |
+| [ONNX Runtime](https://github.com/microsoft/onnxruntime/releases) | 1.20+ | Required at configure time; used at runtime only by `yolo_onnx` |
 
 ### Installation scripts
 
@@ -42,7 +42,7 @@ See [`dataflow.yml`](dataflow.yml) for a complete runnable example with a camera
 | NVIDIA Jetson (ARM64) | `sudo scripts/install_linux_arm.sh` |
 | Windows x64 (PowerShell admin) | `scripts/install_windows.ps1` |
 
-> **Jetson:** No official ONNX Runtime GPU binary for ARM64. The `native` engine works without it. The `yolo_onnx` engine requires [building from source](https://onnxruntime.ai/docs/build/eps.html#tensorrt).
+> **Jetson:** No official ONNX Runtime GPU binary for ARM64. It is still needed to configure the build; only the `yolo_onnx` engine uses it at runtime. Requires [building from source](https://onnxruntime.ai/docs/build/eps.html#tensorrt).
 >
 > **Windows:** Install ZED SDK manually from [stereolabs.com](https://www.stereolabs.com/developers/release), then pass the ONNX Runtime path: `cmake .. -DCMAKE_PREFIX_PATH=C:\onnxruntime`
 

scripts/install_linux_arm.sh

@@ -11,8 +11,8 @@
 #   JetPack 7.1     (L4T 38.4)
 #
 # ONNX Runtime: Microsoft does not publish official GPU binaries for ARM64.
-#   The native engine (ZED SDK built-in TensorRT) works without ONNX Runtime.
+#   ONNX Runtime is still needed to configure the build; only the yolo_onnx
-#   To use the yolo_onnx engine, build ONNX Runtime from source:
+#   engine uses it at runtime. Build it from source:
 #   https://onnxruntime.ai/docs/build/eps.html#tensorrt
 set -euo pipefail
 
@@ -66,8 +66,8 @@ fi
 # --- ONNX Runtime ---
 echo ""
 echo ">>> ONNX Runtime (ARM64 GPU): no official pre-built binary available."
-echo "    The native ZED engine works without ONNX Runtime."
+echo "    Needed to configure the build; only yolo_onnx uses it at runtime."
-echo "    To use the yolo_onnx engine, build from source:"
+echo "    Build from source:"
 echo "      https://onnxruntime.ai/docs/build/eps.html#tensorrt"
 echo ""