cesarandClaude Opus 5
126dbf4f32
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
125 lines
4.4 KiB
Markdown
125 lines
4.4 KiB
Markdown
# dora-zed
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Dora node for ZED stereo cameras. Publishes BGR images, point clouds and camera intrinsics.
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## Usage
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Add to your dataflow:
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```yaml
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nodes:
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- id: zed-camera
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git: ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
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tag: v0.2.0
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build: scripts/build.sh
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path: bin/dora_zed
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image_bgr
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- point_cloud
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- camera_info
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```
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See [`dataflow.yml`](dataflow.yml) for a complete runnable example with a camera display node.
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## Dependencies
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| Dependency | Version | Notes |
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| [dora-rs](https://github.com/dora-rs/dora) | 1.0+ | Verified against `dora-cli 1.0.1`; the C++ bindings are built from source at configure time |
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| [CMake](https://cmake.org/download/) | 3.21+ | |
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| [ZED SDK](https://www.stereolabs.com/developers/release) | 5.x | Bundles OpenCV; default path `/usr/local/zed` |
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| [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) | — | Required by ZED SDK |
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| [Rust toolchain](https://rustup.rs) | stable | Builds dora-rs C++ bindings |
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### Installation scripts
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| Platform | Script |
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| Ubuntu 24.04 x86_64 | `sudo scripts/install_linux_x64.sh` |
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| NVIDIA Jetson (ARM64) | `sudo scripts/install_linux_arm.sh` |
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| Windows x64 (PowerShell admin) | `scripts/install_windows.ps1` |
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> **Windows:** Install the ZED SDK manually from [stereolabs.com](https://www.stereolabs.com/developers/release).
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## Local build
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```bash
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git clone ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
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cd dora-zed
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scripts/build.sh
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```
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Binary installed to `bin/dora_zed`.
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`scripts/build.sh` is also the `build:` command in the dataflow. dora 1.0 runs build
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commands directly rather than through a shell, so `cd`, `&&` and command substitution are
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not available there; keeping the sequence in one script is what makes the dataflow build
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work. It configures a `Release` build, which is also what links the optimized dora
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bindings.
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### Containerized build
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[`Dockerfile`](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.
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```bash
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docker build -t dora-zed-build .
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docker run --rm --gpus all --user "$(id -u):$(id -g)" \
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-v "$PWD:/src" -v dora-zed-cargo:/usr/local/cargo/registry dora-zed-build
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```
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The container runs the same `scripts/build.sh`.
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The first run clones dora-rs and compiles it with Cargo; the named volume keeps that cache across runs.
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`--user` keeps `build/` and `bin/` owned by you rather than root.
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x86-64 only. On Jetson, run [`scripts/install_linux_arm.sh`](scripts/install_linux_arm.sh) on the
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device and build natively — there is no ARM64 image here.
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Needs an NVIDIA driver and the
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[NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
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on the host, as the ZED SDK does anyway. The image sets
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`NVIDIA_DRIVER_CAPABILITIES=compute,utility,video`: `libsl_zed.so` links against NVDEC
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(`libnvcuvid`) and NVENC (`libnvidia-encode`), which the container runtime mounts from the host
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only when `video` is in the capability list.
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## Configuration
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All behavior is controlled via environment variables.
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### Camera
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| Variable | Default | Description |
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| `ZED_RESOLUTION` | `720` | `720`, `1080`, or `2000` |
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| `ZED_FPS` | `15` | Frame rate |
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| `ZED_DEPTH_MODE` | `NEURAL` | `PERFORMANCE`, `QUALITY`, `NEURAL`, or `NONE` |
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| `ZED_DEPTH_MIN_MM` | `10` | Minimum depth (mm) |
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| `ZED_DEPTH_MAX_MM` | `500` | Maximum depth (mm) |
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| `ZED_DEPTH_FILL` | `false` | Enable depth fill mode |
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| `ZED_FLIP` | `ON` | `ON` or `OFF` |
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| `ZED_WARMUP_FRAMES` | `30` | Frames to discard on startup |
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| `ZED_RETRY_INTERVAL_SECONDS` | `5` | Reconnection interval (s) |
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### Point cloud
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| `ZED_PC_MODE` | Shape | Description |
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| `FULL` (default) | `[H, W, 4]` | Full resolution grid (~14.7 MB/frame at 720p) |
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| `HALF` | `[H/2, W/2, 4]` | Stride-2 downsample (~4× smaller) |
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## Inputs
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| Input | Description |
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| `tick` | Triggers a camera grab. Connect to `dora/timer/millis/N`. |
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## Outputs
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| Output | Type | Description |
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| `image_bgr` | `uint8 [H, W, 3]` | BGR image. Metadata: `shape`, `encoding=bgr8`, intrinsics, `timestamp_ns`. |
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| `point_cloud` | `float32 [*, 4]` | XYZRGBA point cloud. Shape depends on `ZED_PC_MODE`. Metadata: `units=mm`, intrinsics. |
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| `camera_info` | `float32 [4]` | `[fx, fy, cx, cy]`. Metadata: `distortion` coefficients. |
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