# 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 an 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
dora: ">=1.0"

inputs:
  tick:
    type: std/core/v1/UInt64
    required: true
    description: >-
      Publishes the newest frame the capture thread has grabbed, or nothing if
      none arrived since the last tick. It does not drive the camera: capture is
      free-running at ZED_FPS, so this sets the publish rate and anything
      captured between two ticks is dropped. Connect to dora/timer/millis/N.

outputs:
  image:
    type: std/media/v1/Image
    description: >-
      Captured frame as an Arrow struct {width, height, encoding, data}. The
      encoding is always bgr8, three bytes per pixel.
  depth:
    type: std/media/v1/Image
    description: >-
      Depth map as an Arrow struct {width, height, encoding, data}, one channel
      per pixel -- dora has no depth type, and a depth map is an image whose
      pixels are distances, which is how ROS spells it too. The encoding is
      32FC1 and the `units` metadata is mm. 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, shape in the metadata. 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.

example: |
  - id: zed-camera
    git: https://gitea.liria.cl/liria/dora-zed.git
    tag: v0.3.0
    build: scripts/build.sh
    path: bin/dora_zed
    inputs:
      tick: dora/timer/millis/100
    outputs:
      - image
      - depth
      - point_cloud
      - camera_info
      - camera_state