cristhian aguilera
55a87d3a14
Extract camera lifecycle (open, warmup, grab, close) and
environment-based configuration into src/zed/camera.{h,cc}.
Thin main.cc now only handles the dora event loop.
Closes #2
dora-zed
Dora C++ node for ZED stereo cameras. Captures frames and publishes BGR images, XYZRGBA point clouds, and camera intrinsics.
Usage via git: in a dataflow
nodes:
- id: zed-camera
git: ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
build: mkdir -p build && cd build && cmake .. && make install
path: bin/dora_zed
inputs:
tick: dora/timer/millis/100
outputs:
- image_bgr
- point_cloud
- camera_info
Then run:
dora build dataflow.yml
dora up
dora start dataflow.yml
Local build
git clone ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
cd dora-zed
mkdir -p build && cd build
cmake ..
make install
The binary is installed to bin/dora_zed relative to the repository root.
Dependencies
| Dependency | Minimum version | Notes |
|---|---|---|
| CMake | 3.21 | |
| ZED SDK | 4.x | Default path: /usr/local/zed |
| CUDA Toolkit | Required by ZED SDK | |
| OpenCV | 4.x | |
| Rust toolchain | stable | Used to build dora-rs C++ bindings |
Environment variables
| Variable | Default | Description |
|---|---|---|
ZED_RESOLUTION |
720 |
Camera resolution: 720, 1080, or 2000 |
ZED_FPS |
15 |
Camera frame rate |
ZED_DEPTH_MODE |
NEURAL |
Depth mode: PERFORMANCE, QUALITY, NEURAL, or NONE |
ZED_DEPTH_MIN_MM |
10 |
Minimum depth distance in millimeters |
ZED_DEPTH_MAX_MM |
500 |
Maximum depth distance in millimeters |
ZED_DEPTH_FILL |
false |
Enable depth fill mode |
ZED_FLIP |
ON |
Image flip: ON or OFF |
ZED_WARMUP_FRAMES |
30 |
Number of warmup frames to discard |
ZED_RETRY_INTERVAL_SECONDS |
5 |
Seconds between reconnection attempts |
Outputs
image_bgr
BGR image as raw bytes. Metadata includes shape (HxWx3), encoding (bgr8), camera intrinsics (fx, fy, cx, cy), distortion, frame_id, and timestamp_ns.
point_cloud
XYZRGBA point cloud as float32 bytes. Metadata includes shape (HxWx4), units (mm), and camera intrinsics.
camera_info
Four float32 values: [fx, fy, cx, cy]. Metadata includes distortion coefficients.