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.
82 lines
3.0 KiB
YAML
82 lines
3.0 KiB
YAML
# Node manifest: the typed contract a consumer wires against.
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#
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# No source package is shared between node repositories, so this file and its
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# type URNs are the only contract a consumer has. `dora validate` checks a
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# dataflow against it without running the node, so CI needs neither OpenCV nor
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# a display.
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apiVersion: 1
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name: dora-image-view
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namespace: liria
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description: Displays an image and a depth map side by side in an OpenCV window, with bounding box and text overlays
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categories: [visualization, debug]
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keywords: [opencv, view, bbox, bounding-box, image, depth, visualization, object-detection]
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runtime: python
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entrypoint: dora-image-view
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# `dora build --uv` / `dora run --uv` rewrites this to `uv pip install .` and
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# gives the node its own managed venv under `.dora/python-envs/`, so the
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# dependencies it sees at runtime are the ones installed here.
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build: pip install .
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dora: ">=1.0"
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inputs:
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image:
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type: std/core/v1/UInt8
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required: false
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description: >-
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Base image to draw on: a flat UInt8 buffer described by the metadata
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{width, height, encoding}. Supported encodings: bgr8, rgb8,
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jpeg/jpg/jpe/bmp/webp/png (encoded bytes), yuv420, avif. Receiving this
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input triggers a redraw and display.
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bbox:
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required: false
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description: >-
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Bounding boxes to overlay: an Arrow struct with fields {bbox, conf,
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labels} and metadata {format}. Supported formats: xyxy, xywh. Stored and
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drawn on the next image redraw. Deliberately untyped — senders differ in
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whether the numeric fields are 32- or 64-bit, and the node casts either.
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text:
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type: std/core/v1/String
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required: false
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description: >-
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Text string to overlay at the top-left corner. Stored and drawn on the
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next image redraw.
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depth:
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type: std/core/v1/Float32
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required: false
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description: >-
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Depth map as a flat Float32 buffer, described by the metadata
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{shape: [height, width], units}. Millimetres unless `units` says `m`;
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0 and non-finite values are missing depth and draw black. Colour-mapped
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into its own panel, which receiving this input redraws.
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outputs: {}
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env:
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VIEW_DEPTH_MIN_MM:
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type: float
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description: >-
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Pin the near end of the depth colour range, in millimetres. Each end is
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auto-ranged over the valid pixels of the current frame when it is unset.
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VIEW_DEPTH_MAX_MM:
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type: float
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description: Pin the far end of the depth colour range, in millimetres.
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VIEW_WIDTH:
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type: int
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description: Resize the displayed frame to this width (pixels). Defaults to the image input width.
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VIEW_HEIGHT:
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type: int
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description: Resize the displayed frame to this height (pixels). Defaults to the image input height.
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example: |
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- id: view
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git: ssh://git@gitea.liria.cl:5001/liria/dora-image-view.git
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tag: v0.1.0
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build: 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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depth: camera/depth
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bbox: detector/bbox
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text: detector/text
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