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v0.2.0: pure camera source on dora 1.0 #18

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cristhian merged 10 commits from v0.2.0-camera-source into main 2026-09-08 15:06:28 +00:00
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AGENTS.md
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## What this is ## What this is
A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes it over the dora dataflow: a BGR image, an XYZRGBA point cloud and camera intrinsics. Camera management lives in `src/zed/` and the dora event loop in `src/main.cc`. A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes it over the dora dataflow: a BGR image and a depth map every frame, camera intrinsics once per camera session, a camera state on every transition, and an XYZRGBA point cloud when `ZED_POINT_CLOUD` is on. Camera management lives in `src/zed/` and the dora event loop in `src/main.cc`.
The node is a camera source only. It ran inference in-process through `v0.1.0`, under `src/engines/`; that was removed so the node has no inference dependency and builds on any platform the ZED SDK supports. The removed code remains reachable at tag `v0.1.0`. The node is a camera source only. It ran inference in-process through `v0.1.0`, under `src/engines/`; that was removed so the node has no inference dependency and builds on any platform the ZED SDK supports. The removed code remains reachable at tag `v0.1.0`.
README.md
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# dora-zed # dora-zed
Dora node for ZED stereo cameras. Publishes BGR images, point clouds and camera intrinsics. Dora node for ZED stereo cameras. Publishes a BGR image and a depth map on every frame, plus camera intrinsics, a camera state, and an optional point cloud.
## Usage ## Usage
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Mini the node closes the handle and lets the backoff give the endpoint time to clear. Mini the node closes the handle and lets the backoff give the endpoint time to clear.
Every attempt and every escalation is logged. Every attempt and every escalation is logged.
Consumers that need 3D back-project `depth` with the published intrinsics rather than
consuming `point_cloud`; the point cloud is not a prerequisite for 3D.
### Timestamps ### Timestamps
Every output carries both clocks, as dora `timestamp` metadata parameters: Every frame output — `image_bgr`, `depth`, `point_cloud` and `camera_info` — carries both
clocks, as dora `timestamp` metadata parameters. `camera_state` carries
`host_timestamp_ns` only, since it is not tied to a frame.
| Key | Epoch | Unit | Source | | Key | Epoch | Unit | Source |
|---|---|---|---| |---|---|---|---|