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| Author | SHA1 | Date | |
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 cristhian
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8c3b3aac92 | ||
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cristhian
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a371bb07ba | ||
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cristhian
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7eeb83bf6d | ||
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cristhian
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344a527097 | ||
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cristhian
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cristhian
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7eb00000ea |
@@ -1,11 +1,12 @@
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# dora-image-view
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Dora node that displays a colour image and a depth map side by side in one OpenCV
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window, with bounding box, text and camera intrinsics overlays. A display sink for debugging a
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vision pipeline: it produces no outputs.
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window, with bounding box, text and camera intrinsics overlays. A display sink for
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debugging a vision pipeline: it consumes frames and produces no outputs.
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Based on [`opencv-plot`](https://github.com/dora-rs/dora-hub/tree/main/node-hub/opencv-plot)
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from dora-hub, brought up to the dora 1.0 node contract and packaged with `uv`.
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from dora-hub, brought up to the dora 1.0 node contract, renamed, and changed to take
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the typed Arrow image struct rather than a flat buffer plus metadata.
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## Usage
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@@ -15,123 +16,44 @@ Add to your dataflow:
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nodes:
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- id: view
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git: https://gitea.liria.cl/liria/dora-image-view.git
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tag: v0.1.0
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tag: v0.1.1
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build: uv pip install .
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path: dora-image-view
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inputs:
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image: camera/image_bgr
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image: camera/image
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depth: camera/depth
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camera_info: camera/camera_info
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bbox: detector/bbox
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text: detector/text
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```
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Run the dataflow with `--uv` (`dora run dataflow.yml --uv`) so the node gets its own
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managed environment.
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Run the dataflow with `--uv` (`dora run dataflow.yml --uv`): the build command is
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`uv pip install .`, so the node gets its own managed environment and never installs into
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an ambient one.
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Every input is optional, and each of `image` and `depth` fills one panel of the window,
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tiled left to right in that order. Wiring one of them is a plain viewer;
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wiring several shows them side by side, scaled to a common height. `bbox`, `text` and `camera_info`
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are overlays rather than panels — boxes are drawn on the `image` panel, in its own
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pixels, and the caption on the composite.
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Every input is optional. `image` and `depth` each fill a panel, tiled left to right and
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scaled to a common height, so wiring one is a plain viewer and wiring both shows them
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side by side. `bbox`, `text` and `camera_info` are overlays rather than panels: boxes on
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the image panel in its own pixels, caption and camera model on the composite.
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### End-to-end test
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### Runnable dataflows
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[`dataflow.yml`](dataflow.yml) is self-contained. [`tests/source.py`](tests/source.py)
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is a synthetic source node that emits an animated frame, a depth map of the same scene,
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the camera intrinsics, the box around the square moving in the frame, and a caption —
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every input this node draws — so it needs no camera, no detector and no network. It is
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a test fixture rather than a worked example; the realistic wiring is the block at the
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top of this file. Run it to watch the node work:
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Run either with `dora run <file> --uv`:
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```bash
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dora run dataflow.yml --uv
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```
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| File | Contents |
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|---|---|
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| [`dataflow.yml`](dataflow.yml) | A synthetic source driving every input. What CI runs. |
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| [`dataflow_webcam.yml`](dataflow_webcam.yml) | A real camera, via [dora-webcam][webcam] |
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A window opens with a square bouncing across a gradient, boxed and labelled. Press `q`
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to quit.
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[webcam]: https://gitea.liria.cl/liria/dora-webcam
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It builds the viewer from this checkout (`path:` + `build:`) rather than from a tag,
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which is what lets `dora validate` pick up the manifest described below.
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`dataflow.yml` needs no camera, no detector and no network: a window opens with a square
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bouncing across a gradient, boxed and labelled, beside its depth map. Press `q` to quit.
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CI runs it headless on every push, which is what keeps it from rotting.
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CI runs the same dataflow headless on every push, which is what makes it a gate rather
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than a demo that rots.
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Set `SOURCE_FRAMES` to stop the source after a fixed number of frames instead of running
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until you quit; that plus `CI=true` is how the same dataflow runs headless as a test:
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```bash
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CI=true SOURCE_FRAMES=30 dora run dataflow.yml --uv
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```
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`SOURCE_WIDTH` and `SOURCE_HEIGHT` (default 640x480) set the frame size.
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### With a real camera
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[`dataflow_webcam.yml`](dataflow_webcam.yml) wires
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[dora-webcam](https://gitea.liria.cl/liria/dora-webcam) into this node, and is the
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worked example of consuming something that is not a test fixture:
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```bash
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dora run dataflow_webcam.yml --uv
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```
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The camera publishes `std/media/v1/Image` and this node draws it. `depth`,
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`camera_info`, `text` and `bbox` are simply unwired — every input is optional, so a
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plain viewer is the result.
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It carries no `strict_types`, deliberately. A camera publishes an image and nothing
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else, and `dora validate --strict` warns about every *typed* input this node declares
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that a dataflow leaves unwired. The strictness belongs to `dataflow.yml`, which drives
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all of them.
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**A `git:` node needs anonymous read access.** dora-cli 1.0.1 fetches through libgit2
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with no credential callback, so a repository that asks for credentials fails with
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`remote authentication required but no callback set`, and `ssh://` cannot authenticate
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at all. Note that marking a repository public is not sufficient on Gitea: a repository
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inside a **private organization** is treated as internal and still answers anonymous
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clones with `401`. The organization has to be public too.
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### Node manifest
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[`dora-node.yml`](dora-node.yml) declares the node's inputs with type URNs. No source
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package is shared between node repositories, so it is the only contract a consumer has,
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and it is what makes a wiring mistake fail at build time instead of at runtime. The
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example source is typed inline in the dataflow with `output_types:`, so `dora validate`
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checks the two against each other:
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```text
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$ dora validate dataflow.yml
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node "view": injected 4 contract type(s) from .../dora-node.yml
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All type annotations OK.
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```
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There is one manifest because this repository ships one node. The example source is a
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test fixture rather than something anyone installs, so it has none, and runs through
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the interpreter to keep `dora validate` from matching the viewer's manifest against it.
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`image` is `std/core/v1/UInt8`, `depth` and `camera_info` are `std/core/v1/Float32` and
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`text` is `std/core/v1/String`; the payloads are raw buffers described by their
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metadata, so the URN names the element type rather than a struct. `bbox` is deliberately
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left untyped — senders disagree on whether its numeric fields are 32- or 64-bit, and the
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node reads either.
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## Behavior
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The node keeps a current frame, bbox set and text string. Each input updates its slice
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of that state:
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- An **`image`** event decodes the frame and immediately redraws: it draws every stored
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bbox (green rectangle plus `label, conf` text), draws the stored text at the top left,
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resizes to `VIEW_WIDTH`x`VIEW_HEIGHT` if both are set, and shows it in a window titled
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`Dora Node: dora-image-view`. Press `q` in the window to quit.
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- A **`depth`** event colour-maps the distances onto the depth panel and redraws.
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- A **`camera_info`** event stores the pinhole model and draws it under the caption.
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- A **`bbox`** or **`text`** event only updates stored state; it is drawn on the next
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redraw.
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Setting `CI=true` suppresses the display: the node still decodes every input but opens
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no window. That is what makes it safe to run in a pipeline test.
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`dataflow_webcam.yml` is the worked example of consuming a real producer. A `git:` node
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needs **anonymous** read access to fetch — on Gitea that means a public organization, not
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just a public repository.
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## Inputs
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@@ -139,59 +61,42 @@ no window. That is what makes it safe to run in a pipeline test.
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|---|---|---|
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| `image` | `std/media/v1/Image` struct | none — the struct describes itself |
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| `depth` | `std/media/v1/Image` struct, one channel | `units` (defaults to `mm`) |
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| `camera_info` | `[fx, fy, cx, cy]` or a 9-element K | `distortion`, `distortion_model` |
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| `bbox` | Arrow struct array, element `[0]` with fields `bbox`, `conf`, `labels` | `format` |
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| `camera_info` | `[fx, fy, cx, cy]` or a 9-element row-major `K` | `distortion` |
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| `bbox` | Arrow struct `{bbox, conf, labels}` | `format`: `xyxy` or `xywh` |
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| `text` | Arrow array of size 1 | — |
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`image` and `depth` are both `std/media/v1/Image`: an Arrow struct of `width: UInt32`,
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`height: UInt32`, `encoding: Utf8` and `data: LargeBinary`. The payload describes
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itself, so nothing about its shape has to travel as message metadata.
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`height: UInt32`, `encoding: Utf8` and `data: LargeBinary`. The payload describes itself,
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so nothing about its shape travels as message metadata.
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Depth is an image whose pixels are distances — dora's type registry has no depth type,
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and this is how ROS spells it too. Its encodings are `32FC1`/`float32` and
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`16UC1`/`mono16`/`uint16`, one channel per pixel, and `units` metadata still switches
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millimetres to metres.
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Image encodings: `bgr8`, `rgb8`, `yuv420`, `avif`, and `jpeg`/`jpg`/`jpe`/`bmp`/`webp`/
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`png` as an encoded byte stream. Depth encodings: `32FC1`/`float32` and
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`16UC1`/`mono16`/`uint16`, one channel per pixel — dora's registry has no depth type, and
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a depth map is an image whose pixels are distances, as ROS also treats it. `0` and
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non-finite values mean missing depth and draw black.
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||||
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`camera_info` is also read from the metadata of any frame carrying `fx`, `fy`, `cx` and
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`cy`, so **wiring it is optional even for a camera that publishes it** — which covers a
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camera that publishes it once per session and a viewer started afterwards. The node needs
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none of it to draw; it is held for whatever turns depth into 3D.
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Older payloads are still decoded, so a producer can move at its own pace: a flat `UInt8`
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buffer with `width`/`height`/`encoding` metadata for `image`, and a flat `Float32`
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buffer with `shape`/`units` metadata for `depth`.
|
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buffer with `width`/`height`/`encoding` metadata for `image`, and a flat `Float32` buffer
|
||||
with `shape`/`units` for `depth`. Note that dora's type compatibility is directional, so
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||||
a producer still *declaring* `std/core/v1/UInt8` fails `dora validate` against an
|
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`std/media/v1/Image` input whatever it sends — its manifest has to move too.
|
||||
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||||
**Migrating a producer.** dora's type compatibility is directional — `Image` satisfies a
|
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`Bytes` input, but a `std/core/v1/UInt8` output wired into an `std/media/v1/Image` input
|
||||
is a `dora validate` error. A producer still declaring `std/core/v1/UInt8` or
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`std/core/v1/Float32` therefore has to change its manifest as well as its payload.
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Supported `image` `encoding` values: `bgr8`, `rgb8`, `jpeg`/`jpg`/`jpe`/`bmp`/`webp`/`png`
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(encoded byte stream), `yuv420`, `avif`. `width` and `height` are only needed by the raw
|
||||
encodings — the rest carry their own dimensions. An unsupported encoding raises.
|
||||
|
||||
Supported `format` values: `xyxy` and `xywh` (centre-based, converted to `xyxy`).
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|
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`depth` is in millimetres unless `units` is `m`. In a depth map, `0`
|
||||
and any non-finite value mean missing depth and are drawn black. A payload sent as a
|
||||
raw byte slice — which is what a C++ node does — arrives as `UInt8` despite the
|
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`Float32` contract, and is reinterpreted rather than converted.
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|
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### Camera intrinsics
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`camera_info` carries the pinhole model the depth map is interpreted through, either as
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the four values `[fx, fy, cx, cy]` or as a nine-element row-major `K`, which is how ROS
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spells the same model in `sensor_msgs/CameraInfo`. Distortion coefficients are read from
|
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the `distortion` metadata.
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|
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The node displays the model and holds it. It needs none of it to draw a panel; it is
|
||||
there for what reads it next — turning a depth map into a point cloud needs `fx`, `fy`,
|
||||
`cx` and `cy` for every pixel, and nothing else in a dataflow carries them.
|
||||
|
||||
Intrinsics are also picked up from the metadata of any `image` or `depth` frame that
|
||||
carries `fx`, `fy`, `cx` and `cy`, so **wiring `camera_info` is optional even for a
|
||||
camera that publishes it**. That matters because a camera typically publishes
|
||||
`camera_info` once per session: a viewer started after the camera would otherwise never
|
||||
see it.
|
||||
Publishing to it:
|
||||
|
||||
```python
|
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node.send_output("image", pa.array(frame.ravel()),
|
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{"width": 640, "height": 480, "encoding": "bgr8"})
|
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image = pa.array(
|
||||
[{"width": 640, "height": 480, "encoding": "bgr8", "data": frame.tobytes()}],
|
||||
type=pa.struct([
|
||||
("width", pa.uint32()), ("height", pa.uint32()),
|
||||
("encoding", pa.utf8()), ("data", pa.large_binary()),
|
||||
]),
|
||||
)
|
||||
node.send_output("image", image, {})
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||||
|
||||
node.send_output("bbox", pa.array([{
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"bbox": np.array([...]), # flattened, four values per box
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@@ -206,7 +111,19 @@ node.send_output("text", pa.array(["hello"]))
|
||||
|
||||
None — it is a display sink.
|
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## Environment variables
|
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## Configuration
|
||||
|
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Settings are environment variables, which a dataflow can carry per node, keeping them
|
||||
with the wiring rather than in whatever shell starts it:
|
||||
|
||||
```yaml
|
||||
env:
|
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VIEW_DEPTH_MIN_MM: 200
|
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VIEW_DEPTH_MAX_MM: 600
|
||||
```
|
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|
||||
A node's `env:` wins over the environment the dataflow was started in; variables it does
|
||||
not set still pass through.
|
||||
|
||||
| Variable | Default | Meaning |
|
||||
|---|---|---|
|
||||
@@ -215,18 +132,16 @@ None — it is a display sink.
|
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| `VIEW_DEPTH_MIN_MM` | auto | Pin the near end of the depth colour range, in millimetres. |
|
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| `VIEW_DEPTH_MAX_MM` | auto | Pin the far end of the depth colour range, in millimetres. |
|
||||
|
||||
Resizing only happens when both `VIEW_WIDTH` and `VIEW_HEIGHT` are set. Both are also
|
||||
available as `--view-width` and `--view-height`; the environment variable wins when both
|
||||
are given.
|
||||
Resizing only happens when both `VIEW_WIDTH` and `VIEW_HEIGHT` are set; both are also
|
||||
available as `--view-width` and `--view-height`, and the environment variable wins.
|
||||
|
||||
Each end of the depth range is auto-ranged over the valid pixels of the current frame
|
||||
unless it is pinned, so pinning one end leaves the other automatic. Auto-ranging makes
|
||||
an unconfigured sensor legible at the cost of colours that shift from frame to frame;
|
||||
pin both ends to compare frames against each other. The range covers the full extent of
|
||||
the valid pixels rather than a percentile of them, so a small near object against a
|
||||
large wall stays visible.
|
||||
Each end of the depth range is auto-ranged over the current frame's valid pixels unless
|
||||
pinned, so pinning one end leaves the other automatic. Auto-ranging makes an
|
||||
unconfigured sensor legible at the cost of colours that shift between frames; pin both
|
||||
ends to compare frames against each other.
|
||||
|
||||
`CI=true` suppresses the display window; it is not a configuration knob.
|
||||
`CI=true` suppresses the window while still decoding every input, which is what makes the
|
||||
node safe inside a pipeline test. It is not a configuration knob.
|
||||
|
||||
## Build
|
||||
|
||||
@@ -235,13 +150,12 @@ uv sync
|
||||
```
|
||||
|
||||
Every dependency ships prebuilt wheels for linux-x86_64, linux-aarch64 and macos-arm64,
|
||||
so the node installs with no system packages and no compiler on any of them — including
|
||||
AVIF support, which comes from `pillow-avif-plugin` rather than OpenCV.
|
||||
so the node installs with no system packages and no compiler — including AVIF support,
|
||||
which comes from `pillow-avif-plugin` rather than OpenCV.
|
||||
|
||||
**Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.11+, `uv`, and a
|
||||
display to show the window on (or `CI=true` to run without one). On a bare Linux image
|
||||
`opencv-python` also needs the libGL shared libraries (`libgl1`, `libglib2.0-0`), which
|
||||
it links at import time.
|
||||
display (or `CI=true` to run without one). On a bare Linux image `opencv-python` needs
|
||||
the libGL shared libraries (`libgl1`, `libglib2.0-0`), which it links at import time.
|
||||
|
||||
## Test
|
||||
|
||||
@@ -249,6 +163,6 @@ it links at import time.
|
||||
uv run pytest
|
||||
```
|
||||
|
||||
Unit tests over decoding, the bbox format conversion and the headless draw path; they
|
||||
need neither a camera, a dataflow nor a display. The headless dataflow run above covers
|
||||
the rest — the manifest, the wiring and the event loop.
|
||||
Unit tests over decoding, depth, intrinsics, the bbox conversion and the headless draw
|
||||
path; they need neither a camera, a dataflow nor a display. The headless `dataflow.yml`
|
||||
run covers the rest — the manifest, the wiring and the event loop.
|
||||
|
||||
+6
-5
@@ -5,10 +5,11 @@
|
||||
# dataflow.yml is the gate, and needs neither.
|
||||
#
|
||||
# This needs anonymous read access to the camera's repository. dora-cli 1.0.1
|
||||
# fetches through libgit2 with no credential callback, so anything that asks for
|
||||
# credentials fails with "remote authentication required but no callback set".
|
||||
# On Gitea, marking the repository public is not enough: a repository inside a
|
||||
# private organization is internal and still answers anonymous clones with 401.
|
||||
# fetches through libgit2 with no credential callback, so ssh:// cannot
|
||||
# authenticate at all and anything asking for credentials fails with "remote
|
||||
# authentication required but no callback set". On Gitea, marking the repository
|
||||
# public is not enough: a repository inside a private organization is internal
|
||||
# and answers an anonymous clone with 401, so the organization must be public.
|
||||
#
|
||||
# `strict_types` is deliberately absent. A camera publishes an image and nothing
|
||||
# else, and `dora validate --strict` warns about every *typed* input this node
|
||||
@@ -19,7 +20,7 @@
|
||||
nodes:
|
||||
- id: camera
|
||||
git: https://gitea.liria.cl/liria/dora-webcam.git
|
||||
tag: v0.1.0
|
||||
tag: v0.1.1
|
||||
build: uv pip install .
|
||||
path: dora-webcam
|
||||
inputs:
|
||||
|
||||
@@ -37,6 +37,13 @@ build-backend = "hatchling.build"
|
||||
[tool.hatch.build.targets.wheel]
|
||||
packages = ["dora_image_view"]
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
# Only this repository's tests. `dora run` vendors a `git:` node's source into
|
||||
# git/ inside the checkout, and pytest would otherwise collect that node's tests
|
||||
# too -- reporting another project's results as this one's, and going red when
|
||||
# they fail.
|
||||
testpaths = ["tests"]
|
||||
|
||||
[tool.ruff.lint]
|
||||
extend-select = ["D", "I", "N", "RET", "UP"]
|
||||
|
||||
|
||||
Reference in New Issue
Block a user