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cristhian aguilera 55a87d3a14 refactor ZED capture into modular camera class with env config

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

2026-03-25 09:11:00 -03:00

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AGENTS.md

This file provides guidance to AI coding assistants when working with code in this repository.

What this is

A dora-rs C++ node that interfaces with ZED stereo cameras. On each tick it grabs a frame and publishes three outputs 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.

Build

mkdir -p build && cd build && cmake .. && make install

The binary is installed to bin/dora_zed relative to the repo root.

Requirements: CMake 3.21+, ZED SDK 4.x (at /usr/local/zed), CUDA Toolkit, OpenCV 4.x, Rust stable toolchain (for dora-rs C++ bindings).

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.

Run

dora up
dora start dataflow.yml

Camera behavior is configured entirely through environment variables (see README.md for the full list: ZED_RESOLUTION, ZED_FPS, ZED_DEPTH_MODE, etc.).

Architecture

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 + point cloud), calibration, and close.
src/zed/camera.cc — Implementation. Env-variable parsing helpers and SDK enum parsers live in an anonymous namespace.
src/main.cc — Dora event loop. Receives tick inputs, calls camera.grab(), and sends image_bgr, point_cloud, and camera_info outputs with metadata. Handles reconnection on grab failure.
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.
dataflow.yml — Example dora dataflow definition using the git: source format.

Key APIs

dora C++ API (<dora-node-api.h>): init_dora_node(), dora_node.events->next(), event_type(), send_output_with_metadata(), new_metadata().
ZED SDK (<sl/Camera.hpp>): sl::Camera, sl::InitParameters, sl::RuntimeParameters, sl::Mat.
Output data is sent as raw byte slices (rust::Slice<const uint8_t>) with typed metadata (shape, dtype, encoding).

Rules

Do not mention AI tools in commit messages or documentation.

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