cesarandClaude Opus 5
15134dc12e
Publish sl::MEASURE::DEPTH as float32 [H, W] millimetres on every frame that carries image_bgr, with the intrinsics, frame_id and timestamps the other outputs carry. The map is copied out rather than published in place: sl::Mat rows can be padded, so the buffer is not necessarily H * W floats. inf and nan are cleared to 0 in the same pass, matching the reference driver — a hole is meaningful and a consumer cannot back-project a non-finite value. Consumers that need 3D can now back-project depth with the published intrinsics instead of receiving a point cloud. Also drops the stale objects entry from the dataflow outputs, missed when detection was removed. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
60 lines
4.8 KiB
Markdown
60 lines
4.8 KiB
Markdown
# AGENTS.md
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This file provides guidance to AI coding assistants when working with code in this repository.
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## What this is
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A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes it over the dora dataflow: a BGR image, an XYZRGBA point cloud and camera intrinsics. Camera management lives in `src/zed/` and the dora event loop in `src/main.cc`.
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The node is a camera source only. It ran inference in-process through `v0.1.0`, under `src/engines/`; that was removed so the node has no inference dependency and builds on any platform the ZED SDK supports. The removed code remains reachable at tag `v0.1.0`.
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## Build
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```bash
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scripts/build.sh
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```
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The binary is installed to `bin/dora_zed` relative to the repo root. The script is also
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the dataflow's `build:` command: dora 1.0 executes build commands directly rather than
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through a shell, so `cd`, `&&` and command substitution do not work there.
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**Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), CMake 3.21+, ZED SDK 5.x (at `/usr/local/zed`), CUDA Toolkit, Rust stable toolchain (for dora-rs C++ bindings).
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The first build clones dora-rs from GitHub and compiles `dora-node-api-cxx` via Cargo. This takes a while. Subsequent builds are incremental. If `DORA_ROOT_DIR` is set to a local dora checkout, it builds against that instead.
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For a build without installing the SDK stack on the host, see the `Dockerfile` (Ubuntu 24.04 — the newest release with a ZED SDK; there is no Stereolabs build for 26.04). Run the compile with `--gpus all`.
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## Run
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```bash
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dora up
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dora start dataflow.yml
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```
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Camera behavior is configured entirely through environment variables (see README.md for the full list: `ZED_RESOLUTION`, `ZED_FPS`, `ZED_DEPTH_MODE`, etc.).
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## Architecture
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- **`src/util/env.h`** — Shared inline env-variable parsing helpers (`get_env_int`, `get_env_str`, `get_env_bool`, `get_env_float`).
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- **`src/zed/camera.h`** — `zed::Config`, `zed::Calibration`, and `zed::Camera` class. Camera wraps the ZED SDK lifecycle: open (with retry loop), warmup, grab (image + depth + point cloud), calibration, device timestamp, and close. Exposes `handle()` for engine access.
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- **`src/zed/camera.cc`** — Implementation. SDK enum parsers live in an anonymous namespace.
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- **`src/main.cc`** — Dora event loop. Parses `ZED_PC_MODE` (`FULL`/`HALF`) once before the loop. On any input event (intended to be driven by a tick timer; the id is not inspected): calls `camera.grab()`, then sends `image_bgr`, `depth`, `point_cloud` and `camera_info`. `pack_depth` copies the depth map into a tightly packed `[H, W]` float buffer (sl::Mat rows can be padded) and clears `inf`/`nan` to `0`. `set_intrinsics` and `set_frame_stamps` stamp every output of a frame with the same intrinsics, `frame_id` and the two timestamps (`device_timestamp_ns`, `host_timestamp_ns`; both Unix-epoch nanoseconds). Point cloud output varies by mode: `FULL` sends the raw `sl::Mat` pointer (no copy); `HALF` downsamples by 2 in each dimension. Handles reconnection on grab failure.
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- **`DoraTargets.cmake`** — Handles building or fetching dora-rs and generating the CXX bridge files. Two paths: local (`DORA_ROOT_DIR`) or git clone. Produces `dora_node_api_cxx` library and the `node_bridge.cc` glue.
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- **`scripts/build.sh`** — Configure/compile/install in one shell-free-callable step. Referenced by `dataflow.yml`, the `Dockerfile` and the README.
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- **`dataflow.yml`** — Example dora dataflow definition using the `git:` source format, pinned with `tag:` — dora 1.0 pins a source with the mutually exclusive `tag:`, `rev:` or `branch:`.
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- **`Dockerfile`** — Ubuntu 24.04 x86-64 build environment (CUDA 12.8, ZED SDK 5.2, Rust). No ARM64/Jetson image; build natively there. No camera needed; run the compile with `--gpus all`. Sets `NVIDIA_DRIVER_CAPABILITIES=compute,utility,video` — the `video` capability is what makes the container runtime mount NVDEC/NVENC, which `libsl_zed.so` links against. Rust lives at `/usr/local/{rustup,cargo}` rather than `/root` so the build can run as the invoking user. `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`.
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## Key APIs
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- **dora C++ API** (`<dora-node-api.h>`): `init_dora_node()`, `dora_node.events->next()`, `event_type()`, `send_output_with_metadata()`, `new_metadata()`.
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- **ZED SDK** (`<sl/Camera.hpp>`): `sl::Camera`, `sl::InitParameters`, `sl::RuntimeParameters`, `sl::Mat`.
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- Output data is sent as raw byte slices (`rust::Slice<const uint8_t>`) with typed metadata (shape, dtype, encoding).
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## Tools
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- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage issues, pull requests, and other repository operations.
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## Rules
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- Do not mention AI tools in commit messages or documentation.
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