The comment on examples/dora-node.yml read as an apology for a workaround.
It is the documented mechanism: a manifest describes exactly one node, and one
sitting next to a plain `path:` node is picked up automatically, which is how a
node gets contract validation without being published.
Nothing in a dataflow carries fx, fy, cx and cy except the camera, and every
pixel of a depth map needs them to become a 3D point. The node now accepts
them so whatever computes that next has them to hand.
They are read from two places because dora-zed publishes them twice: the
camera_info message, and the metadata of every frame. The per-frame copy is
not redundant -- camera_info goes out once per camera session, so a viewer
started after the camera would otherwise never see it, and reading frame
metadata means wiring the input is optional even for a camera that publishes
it.
A nine-element row-major K is accepted alongside the compact [fx, fy, cx, cy],
since that is how ROS spells the same model in sensor_msgs/CameraInfo.
The model is drawn under the caption rather than only stored. A depth map read
through the wrong intrinsics looks entirely plausible, and this is where that
becomes visible.
as_float32 moves to a payload module: camera_info arrives as a raw byte slice
for the same reason the depth map does, and the reinterpretation is now shared
rather than written twice.
Verified with dora-cli 1.0.1: validate passes with four contracts injected on
each side, the dataflow runs to a clean exit, and a composed frame was
rendered and inspected with the model drawn on it.
The node showed a colour image only, so debugging a depth pipeline meant
either trusting the numbers or writing a throwaway viewer. It now keeps one
panel per frame stream -- image and depth -- and tiles them side by side,
scaled to a common height. Wiring one is a plain viewer; wiring both shows
them together. bbox and text stay overlays rather than panels.
The contract follows what dora-zed already publishes: float32 [H, W] in
millimetres with 0 for missing. It is sent there as a raw byte slice, so the
payload arrives as UInt8 despite the Float32 contract and is reinterpreted
rather than converted.
Auto-ranging the colormap over the valid pixels' full extent, rather than over
a percentile of them, is deliberate and was not the first attempt: trimming
the tails collapsed on the scene the node exists for. A small object in front
of a large wall is a few percent of the pixels, so both tails landed on the
wall and the object clipped away. Rendering a frame and looking at it found
that; every test passed either way.
Verified with dora-cli 1.0.1: validate passes with both contracts injected,
the dataflow runs both nodes to a clean exit, and a composed frame was
rendered and inspected.
`dora validate` matches a node manifest to a `path:` node by entrypoint. With
no manifest beside examples/source.py the root dora-node.yml was tried against
it, did not match its entrypoint, and warned -- which `strict_types: true`
turns into a non-zero exit, failing CI.
Declaring the source's output types in the new manifest rather than as
`output_types:` in dataflow.yml is also what makes them checked: an inline
annotation shadows the manifest, so the manifest would be injected but never
compared against the viewer's.
Verified with dora-cli 1.0.1: validate passes with both contracts injected, and
`CI=true SOURCE_FRAMES=30 dora run dataflow.yml --uv` runs both nodes to a
clean exit.
The repository, the Python package, the entrypoint and the manifest name all
now agree. `plot` was carried over from the upstream opencv-plot node and no
longer described anything here, so the module, the class and the environment
variables follow the node:
dora_plot/ -> dora_image_view/
dora_plot/plot.py -> dora_image_view/view.py
Plot -> View
PLOT_WIDTH/HEIGHT -> VIEW_WIDTH/HEIGHT
--plot-width/-height -> --view-width/-height
Breaking for anyone wiring `path: dora-plot` or setting PLOT_WIDTH; nothing is
tagged yet.
The example dataflow pulled opencv-video-capture and pyarrow-sender from
dora-hub, needed a webcam, and left `bbox` unwired because every bbox source
is a detector. examples/source.py emits an animated frame, the box around the
square in it, and a caption, so the dataflow exercises all three inputs with
nothing outside this checkout.
SOURCE_FRAMES bounds the run, which lets CI run the dataflow headless rather
than only validate it. Drops the dora-zed and dora-yolo wirings from the
README and trims AGENTS.md to what the code and README do not already say.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_018WLVZCFFcCH1EpTXGfS9aD
cristhian
