cristhian
0efeacd538
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.
34 lines
1011 B
YAML
34 lines
1011 B
YAML
# The repository's own example, and its end-to-end test: a synthetic source
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# feeding the viewer. Everything it needs is in this checkout -- no camera, no
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# detector, no network -- so it is also what CI runs.
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#
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# Both nodes are built from the checkout with `path:` + `build:`, which is what
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# lets `dora validate` pick up the typed contract in dora-node.yml. A consumer
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# wires the viewer from a tag instead -- see README.md.
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#
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# Run it with `--uv` so every node gets its own managed environment.
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strict_types: true
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nodes:
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- id: source
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path: examples/source.py
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# The source needs dora-rs, numpy and pyarrow; installing the project gives
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# it exactly the versions pinned in uv.lock.
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build: pip install .
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inputs:
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tick: dora/timer/millis/33
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outputs:
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- image
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- depth
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- bbox
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- text
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- id: view
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path: dora-image-view
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build: pip install .
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inputs:
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image: source/image
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depth: source/depth
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bbox: source/bbox
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text: source/text
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