# Node manifest: the typed contract a consumer wires against.
#
# No source package is shared between node repositories, so this file and its
# type URNs are the only contract a consumer has. `dora validate` checks a
# dataflow against it without running the node, so CI needs neither OpenCV nor
# a display.
apiVersion: 1
name: dora-image-view
namespace: liria
description: Displays an image and a depth map side by side in an OpenCV window, with bounding box and text overlays
categories: [visualization, debug]
keywords: [opencv, view, bbox, bounding-box, image, depth, visualization, object-detection]

runtime: python
entrypoint: dora-image-view
# `dora build --uv` / `dora run --uv` rewrites this to `uv pip install .` and
# gives the node its own managed venv under `.dora/python-envs/`, so the
# dependencies it sees at runtime are the ones installed here.
build: pip install .
dora: ">=1.0"

inputs:
  image:
    type: std/core/v1/UInt8
    required: false
    description: >-
      Base image to draw on: a flat UInt8 buffer described by the metadata
      {width, height, encoding}. Supported encodings: bgr8, rgb8,
      jpeg/jpg/jpe/bmp/webp/png (encoded bytes), yuv420, avif. Receiving this
      input triggers a redraw and display.
  bbox:
    required: false
    description: >-
      Bounding boxes to overlay: an Arrow struct with fields {bbox, conf,
      labels} and metadata {format}. Supported formats: xyxy, xywh. Stored and
      drawn on the next image redraw. Deliberately untyped — senders differ in
      whether the numeric fields are 32- or 64-bit, and the node casts either.
  text:
    type: std/core/v1/String
    required: false
    description: >-
      Text string to overlay at the top-left corner. Stored and drawn on the
      next image redraw.
  depth:
    type: std/core/v1/Float32
    required: false
    description: >-
      Depth map as a flat Float32 buffer, described by the metadata
      {shape: [height, width], units}. Millimetres unless `units` says `m`;
      0 and non-finite values are missing depth and draw black. Colour-mapped
      into its own panel, which receiving this input redraws.

outputs: {}

env:
  VIEW_DEPTH_MIN_MM:
    type: float
    description: >-
      Pin the near end of the depth colour range, in millimetres. Each end is
      auto-ranged over the valid pixels of the current frame when it is unset.
  VIEW_DEPTH_MAX_MM:
    type: float
    description: Pin the far end of the depth colour range, in millimetres.
  VIEW_WIDTH:
    type: int
    description: Resize the displayed frame to this width (pixels). Defaults to the image input width.
  VIEW_HEIGHT:
    type: int
    description: Resize the displayed frame to this height (pixels). Defaults to the image input height.

example: |
  - id: view
    git: ssh://git@gitea.liria.cl:5001/liria/dora-image-view.git
    tag: v0.1.0
    build: pip install .
    path: dora-image-view
    inputs:
      image: camera/image_bgr
      depth: camera/depth
      bbox: detector/bbox
      text: detector/text