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  v0.1.0 Stable

  cristhian released this 2026-09-15 09:36:32 +00:00 | 5 commits to main since this release

  First release.

  Displays a colour image and a depth map side by side in one OpenCV window, with bounding
  box, text and camera intrinsics overlays. A display sink for debugging a vision
  pipeline: it produces no outputs.

  Wiring it

  nodes:
    - id: view
      git: https://gitea.liria.cl/liria/dora-image-view.git
      tag: v0.1.0
      build: uv pip install .
      path: dora-image-view
      inputs:
        image: camera/image_bgr
        depth: camera/depth
        camera_info: camera/camera_info
        bbox: detector/bbox
        text: detector/text
  

  Run with --uv: the build command is uv pip install ., so the node gets its own
  managed environment. Every input is optional — wiring image alone is a plain viewer.

  Inputs

  Input	Payload
  image	std/media/v1/Image struct
  depth	std/media/v1/Image struct, one channel
  camera_info	[fx, fy, cx, cy] or a 9-element row-major K
  bbox	Arrow struct {bbox, conf, labels}, xyxy or xywh
  text	Arrow array of size 1

  image and depth are std/media/v1/Image: an Arrow struct of width, height,
  encoding and data, so the payload describes itself and nothing about the frame's
  shape has to be agreed out of band. Depth uses a single-channel encoding — 32FC1 or
  16UC1 — because dora's type registry has no depth type and a depth map is an image
  whose pixels are distances, which is the reading ROS takes too. The older flat-buffer
  forms are still decoded, so a producer's payload can move before its manifest does.

  camera_info holds the pinhole model. It is also read from the metadata of any frame
  carrying fx, fy, cx and cy, which is what covers a camera that publishes it once
  per session and a viewer that started afterwards — so wiring the input is optional even
  for a camera that publishes it.

  Display

  image and depth each fill a panel, tiled left to right and scaled to a common
  height. bbox and text are overlays rather than panels: boxes are drawn on the image
  panel in its own pixels, the caption on the composite, and the camera model under it.

  The depth colormap auto-ranges over the full extent of the valid pixels, not a
  percentile of them. Trimming the tails looks safer and breaks the scene this node exists
  for: a small object in front of a large wall is a few percent of the pixels, so both
  tails land on the wall and the object clips away. Pin either end with
  VIEW_DEPTH_MIN_MM / VIEW_DEPTH_MAX_MM.

  CI=true suppresses the window while still decoding every input, which is what makes
  the node safe inside a pipeline test.

  Notes

  Based on opencv-plot
  from dora-hub, brought up to the dora 1.0 node contract, renamed, and changed to the
  typed Arrow image.

  Requires dora 1.0+ (verified with dora-cli 1.0.1), Python 3.11+, uv, and a display
  (or CI=true). On a bare Linux image opencv-python needs libgl1 and libglib2.0-0.

  Downloads

  • Source Code (ZIP)
  • Source Code (TAR.GZ)