# Node manifest: the typed contract a consumer wires against.
#
# No source package is shared between node repositories, so this file and its
# type URNs are the only contract a consumer has. `dora validate` checks a
# dataflow against it without running the node, so CI needs no camera and no
# ZED SDK.
apiVersion: 1
name: dora-zed
namespace: liria
description: ZED stereo camera source publishing a BGR image, a depth map, intrinsics and an optional point cloud
categories: [sensor]
keywords: [zed, stereolabs, camera, depth, stereo, jetson]

runtime: cpp
entrypoint: bin/dora_zed
build: scripts/build.sh

inputs:
  tick:
    type: std/core/v1/UInt64
    required: true
    description: Each tick triggers one camera grab. Connect to dora/timer/millis/N.

outputs:
  image_bgr:
    type: std/core/v1/UInt8
    description: BGR image bytes, [H, W, 3]. Shape and encoding are in the metadata.
  depth:
    type: std/core/v1/Float32
    description: Per-pixel depth in millimetres, [H, W]. Missing depth is 0, never inf or nan.
  camera_info:
    type: std/core/v1/Float32
    description: Intrinsics [fx, fy, cx, cy], distortion in the metadata. Published once per camera session.
  point_cloud:
    type: std/core/v1/Float32
    description: XYZRGBA point cloud. Published only when ZED_POINT_CLOUD is on.
  camera_state:
    type: std/core/v1/String
    description: One of opening, streaming, recovering. Published on every change.