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.
59 lines
1.9 KiB
YAML
59 lines
1.9 KiB
YAML
# Manifest for the example source node.
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#
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# Its reason to exist is as much mechanical as documentary: `dora validate`
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# matches a node manifest to a `path:` node by entrypoint, and without a
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# manifest here the repository-root dora-node.yml -- whose entrypoint is
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# `dora-image-view` -- gets tried against `examples/source.py`, does not match,
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# and warns. Under `strict_types: true` that warning fails the run.
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#
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# Declaring the types here rather than as `output_types:` in dataflow.yml is
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# what makes them checked: an inline annotation shadows the manifest, so the
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# manifest would be injected but never compared against dora-image-view's.
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apiVersion: 1
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name: source
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namespace: liria
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description: Synthetic image, depth, bbox and text source for the dora-image-view example
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categories: [debug]
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keywords: [example, test, synthetic]
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runtime: python
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entrypoint: source.py
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build: pip install .
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dora: ">=1.0"
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inputs:
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tick:
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required: true
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description: Timer tick; one frame is emitted per tick.
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outputs:
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image:
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type: std/core/v1/UInt8
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description: >-
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Animated bgr8 frame as a flat UInt8 buffer, with metadata
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{width, height, encoding}.
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bbox:
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description: >-
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The box around the moving square: an Arrow struct {bbox, conf, labels}
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with metadata {format: xyxy}. Untyped to match the dora-image-view input.
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text:
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type: std/core/v1/String
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description: A fixed caption.
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depth:
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type: std/core/v1/Float32
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description: >-
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Depth of the same scene in millimetres, [height, width]: a flat wall with
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the square standing in front of it.
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env:
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SOURCE_WIDTH:
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type: int
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description: Frame width in pixels. Defaults to 640.
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SOURCE_HEIGHT:
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type: int
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description: Frame height in pixels. Defaults to 480.
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SOURCE_FRAMES:
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type: int
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description: Stop after this many frames. 0, the default, runs until the viewer quits.
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