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
21 lines
459 B
YAML
21 lines
459 B
YAML
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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- depth
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- point_cloud
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- camera_info
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- id: plot
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git: https://github.com/dora-rs/dora-hub.git
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build: pip install ./node-hub/opencv-plot
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path: opencv-plot
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inputs:
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image: zed-camera/image_bgr
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