> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Send Depth node

> Publish a monocular depth map from an upstream depth-estimation model to the twin's MQTT depth topic.

`send_depth` is an edge-only transform node that reads a float depth map
from an upstream `call_model` node (any registered depth estimator — Hailo
fast\_depth / SCDepthV3, Video-Depth-Anything) and publishes it as a
`uint16 H×W` payload on the canonical twin depth topic
`cyberwave/twin/{twin_uuid}/depth` — the same shape the PointCloud
viewer, recording / replay and the `object_pose` node already consume.

## Typical chain

```
trigger (camera_frame)
  → call_model  (depth-estimation model)
  → send_depth
```

Pipe the same `call_model` output into `object_pose` when the model is
metric to lift 2D detections into 3D positions.

## Inputs

| Field       | Type   | Required | Description                                                                                  |
| ----------- | ------ | -------- | -------------------------------------------------------------------------------------------- |
| `depth_map` | array  | ✓        | H×W float32 depth map. Auto-wired when placed downstream of a depth-estimation `call_model`. |
| `twin_uuid` | string | ✓        | Target twin — depth is published on `cyberwave/twin/{twin_uuid}/depth`.                      |

## Parameters

| Field                    | Default             | Description                                                                                                                                                                      |
| ------------------------ | ------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `output_mode`            | `normalized_uint16` | `normalized_uint16` stretches the depth range to 0-65535 for visualisation. `metric_mm` multiplies by `scale_factor` and clips — required by consumers that need real distances. |
| `scale_factor`           | `1000.0`            | Applied only in `metric_mm` mode. Metres → millimetres by default.                                                                                                               |
| `publish_every_n_frames` | `1`                 | Throttle. Set higher on tight uplinks.                                                                                                                                           |

## Notes

* Edge-only. The node is filtered out of cloud workflows at compile time.
* Replaces the retired `cyberwave-edge-camera-depth-estimation` driver — the same MQTT topic shape, now expressed as a workflow.