dora-zed/dataflow.yml at 6e6dc8ef27fd52949c521fd3741d243c27165572 - dora-zed - Gitea: Git with a cup of tea

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cristhian aguilera 6e6dc8ef27 add native 3D object detection using ZED SDK optimized models

Add engines::ZedNative class wrapping ZED SDK's TensorRT-optimized
object detection. On every frame grab, detected objects (label,
confidence, 3D position, 2D/3D bounding boxes) are serialized as a
flat float32 array and sent as a new "objects" dora output with
frame_id correlation to image_bgr.

Extract shared env-var helpers into src/util/env.h and expose
sl::Camera& via Camera::handle() for engine access.

Closes #3

2026-03-26 10:53:38 -03:00

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 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
       - objects