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cristhian aguilera 9ac14c07e2 add dora C++ node for ZED stereo camera capture

Implements a dora-rs node that captures frames from ZED cameras
and publishes BGR images, XYZRGBA point clouds, and camera
intrinsics. Includes CMake build system with automatic dora-rs
C++ bindings, dataflow definition, and documentation.

2026-03-25 08:42:26 -03:00

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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.

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