cristhian
c1a7d70ba6
dora-image-view takes std/media/v1/Image, and dora's compatibility graph has no edge from std/core/v1/UInt8 to it, so wiring the two failed `dora validate` whatever the node actually sent. Its flat-buffer fallback would not have decoded these frames either: it reads width/height metadata, and this node only published shape. image and depth now go out as the Image struct, camera_info and point_cloud as Float32 arrays and camera_state as a string, all built against the Arrow C data interface in src/arrow so the node still links no Arrow C++. Shape, dtype and encoding metadata are dropped where the payload describes itself; intrinsics, frame_id and both timestamps are unchanged. tests/run.sh covers the packing without a camera or the SDK, round-tripping each array through pyarrow and rebuilding it under the sanitizers. Breaking: image_bgr is renamed to image and every payload changes shape. dataflow_plot.yml is replaced by dataflow_view.yml, which wires the viewer from a tag and repeats its contract in input_types so validate checks both sides of the wiring.
48 lines
1.3 KiB
CMake
48 lines
1.3 KiB
CMake
cmake_minimum_required(VERSION 3.21)
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project(dora_zed VERSION 0.3.0 LANGUAGES C CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_FLAGS "-fPIC")
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# DoraTargets.cmake picks the cargo profile from this, so an unset build type
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# would link debug dora bindings into an otherwise unoptimized binary.
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if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
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endif()
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include(DoraTargets.cmake)
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set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the ZED SDK")
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set(ZED_PATH ${ZED_DIR})
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find_package(CUDAToolkit REQUIRED)
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find_package(zed REQUIRED)
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find_package(OpenCV REQUIRED)
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link_directories(${dora_link_dirs})
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link_directories(${ZED_LIBRARY_DIR})
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add_executable(dora_zed
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src/main.cc
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src/arrow/array.cc
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src/zed/camera.cc
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src/zed/capture.cc
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${node_bridge}
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)
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add_dependencies(dora_zed Dora_cxx)
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target_include_directories(
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dora_zed
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${dora_cxx_include_dir}
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${dora_c_include_dir}
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CUDAToolkit_INCLUDE_DIRS}
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)
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target_link_libraries(dora_zed dora_node_api_cxx ${ZED_LIBRARIES} ${OpenCV_LIBS})
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install(TARGETS dora_zed DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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