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cesarandClaude Opus 5 126dbf4f32 remove detection from the node

dora-zed publishes camera data only. The two engines under src/engines/, the
objects output, the ZED_ENGINE/ZED_DETECTION_*/ZED_ONNX_* variables and the
ZED_PC_MODE=ROI crop are gone, along with the standalone engine test and the
model export script.

This drops the unconditional ONNX Runtime requirement from CMakeLists, the
Dockerfile and the install scripts, so the node now configures on a machine
with no ONNX Runtime — which is what blocked the Jetson build, since there is
no official ARM64 GPU binary.

zed_native is dropped rather than kept: it is bound to the live camera handle
and cannot run in a node that receives images over a dataflow. The removed
code remains reachable at tag v0.1.0.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c

2026-09-08 09:12:40 -03:00

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dora-zed

Dora node for ZED stereo cameras. Publishes BGR images, point clouds and camera intrinsics.

Usage

Add to your dataflow:

nodes:
  - id: zed-camera
    git: ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
    tag: v0.2.0
    build: scripts/build.sh
    path: bin/dora_zed
    inputs:
      tick: dora/timer/millis/100
    outputs:
      - image_bgr
      - point_cloud
      - camera_info

See dataflow.yml for a complete runnable example with a camera display node.

Dependencies

Dependency	Version	Notes
dora-rs	1.0+	Verified against `dora-cli 1.0.1`; the C++ bindings are built from source at configure time
CMake	3.21+
ZED SDK	5.x	Bundles OpenCV; default path `/usr/local/zed`
CUDA Toolkit	—	Required by ZED SDK
Rust toolchain	stable	Builds dora-rs C++ bindings

Installation scripts

Platform	Script
Ubuntu 24.04 x86_64	`sudo scripts/install_linux_x64.sh`
NVIDIA Jetson (ARM64)	`sudo scripts/install_linux_arm.sh`
Windows x64 (PowerShell admin)	`scripts/install_windows.ps1`

Windows: Install the ZED SDK manually from stereolabs.com.

Local build

git clone ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
cd dora-zed
scripts/build.sh

Binary installed to bin/dora_zed.

scripts/build.sh is also the build: command in the dataflow. dora 1.0 runs build commands directly rather than through a shell, so cd, && and command substitution are not available there; keeping the sequence in one script is what makes the dataflow build work. It configures a Release build, which is also what links the optimized dora bindings.

Containerized build

Dockerfile provides the full toolchain — CUDA, ZED SDK and Rust — on Ubuntu 24.04, the newest release Stereolabs ships a ZED SDK for. No camera is needed.

docker build -t dora-zed-build .
docker run --rm --gpus all --user "$(id -u):$(id -g)" \
    -v "$PWD:/src" -v dora-zed-cargo:/usr/local/cargo/registry dora-zed-build

The container runs the same scripts/build.sh.

The first run clones dora-rs and compiles it with Cargo; the named volume keeps that cache across runs. --user keeps build/ and bin/ owned by you rather than root.

x86-64 only. On Jetson, run scripts/install_linux_arm.sh on the device and build natively — there is no ARM64 image here.

Needs an NVIDIA driver and the NVIDIA Container Toolkit on the host, as the ZED SDK does anyway. The image sets NVIDIA_DRIVER_CAPABILITIES=compute,utility,video: libsl_zed.so links against NVDEC (libnvcuvid) and NVENC (libnvidia-encode), which the container runtime mounts from the host only when video is in the capability list.

Configuration

All behavior is controlled via environment variables.

Camera

Variable	Default	Description
`ZED_RESOLUTION`	`720`	`720`, `1080`, or `2000`
`ZED_FPS`	`15`	Frame rate
`ZED_DEPTH_MODE`	`NEURAL`	`PERFORMANCE`, `QUALITY`, `NEURAL`, or `NONE`
`ZED_DEPTH_MIN_MM`	`10`	Minimum depth (mm)
`ZED_DEPTH_MAX_MM`	`500`	Maximum depth (mm)
`ZED_DEPTH_FILL`	`false`	Enable depth fill mode
`ZED_FLIP`	`ON`	`ON` or `OFF`
`ZED_WARMUP_FRAMES`	`30`	Frames to discard on startup
`ZED_RETRY_INTERVAL_SECONDS`	`5`	Reconnection interval (s)

Point cloud

`ZED_PC_MODE`	Shape	Description
`FULL` (default)	`[H, W, 4]`	Full resolution grid (~14.7 MB/frame at 720p)
`HALF`	`[H/2, W/2, 4]`	Stride-2 downsample (~4× smaller)

Inputs

Input	Description
`tick`	Triggers a camera grab. Connect to `dora/timer/millis/N`.

Outputs

Output	Type	Description
`image_bgr`	`uint8 [H, W, 3]`	BGR image. Metadata: `shape`, `encoding=bgr8`, intrinsics, `timestamp_ns`.
`point_cloud`	`float32 [*, 4]`	XYZRGBA point cloud. Shape depends on `ZED_PC_MODE`. Metadata: `units=mm`, intrinsics.
`camera_info`	`float32 [4]`	`[fx, fy, cx, cy]`. Metadata: `distortion` coefficients.

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