# 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.