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.
94 lines
2.9 KiB
Python
94 lines
2.9 KiB
Python
"""Synthetic source node: this repository's stand-in for a camera and a detector.
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Emits an animated frame, a depth map of the same scene, the box around the square
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moving in it, and a caption -- every input dora-image-view draws -- so the example
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dataflow needs no camera, no detector and no network.
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The depth map describes the same scene as the image: a flat back wall with the square
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standing in front of it.
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"""
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import os
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import numpy as np
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import pyarrow as pa
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from dora import Node
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WIDTH = int(os.getenv("SOURCE_WIDTH", "640"))
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HEIGHT = int(os.getenv("SOURCE_HEIGHT", "480"))
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# 0 runs until the viewer quits; a positive count is what lets CI run the
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# dataflow to completion instead of killing it on a timeout.
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FRAMES = int(os.getenv("SOURCE_FRAMES", "0"))
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BOX = 96
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SPEED = 6
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CAPTION = "dora-image-view synthetic source"
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WALL_MM = 2000.0
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SQUARE_MM = 800.0
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def main() -> None:
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"""Send one image, depth map, bbox and text per tick."""
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node = Node("source")
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sent = 0
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for event in node:
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if event["type"] != "INPUT":
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continue
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frame, corners = render(sent)
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node.send_output(
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"image",
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pa.array(frame.ravel()),
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{"width": WIDTH, "height": HEIGHT, "encoding": "bgr8"},
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)
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node.send_output(
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"bbox",
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pa.array([{
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"bbox": corners,
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"conf": np.array([0.99]),
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"labels": np.array(["square"]),
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}]),
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{"format": "xyxy"},
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)
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depth = render_depth(corners)
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node.send_output(
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"depth",
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pa.array(depth.ravel()),
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{"shape": [HEIGHT, WIDTH], "dtype": "float32", "layout": "HW", "units": "mm"},
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)
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node.send_output("text", pa.array([CAPTION]))
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sent += 1
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if FRAMES and sent >= FRAMES:
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break
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def render(index: int) -> tuple[np.ndarray, np.ndarray]:
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"""Draw frame `index` and return it with the xyxy corners of the square in it."""
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frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)
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frame[:, :, 0] = np.linspace(40, 140, HEIGHT, dtype=np.uint8)[:, None]
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travel = WIDTH - BOX
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# A triangle wave over `index`: the square starts at the left edge, runs to
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# the right edge, and comes back.
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left = travel - abs((index * SPEED) % (2 * travel) - travel)
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top = (HEIGHT - BOX) // 2
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frame[top : top + BOX, left : left + BOX] = (60, 200, 255)
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corners = np.array([left, top, left + BOX, top + BOX], dtype=np.float64)
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return frame, corners
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def render_depth(corners: np.ndarray) -> np.ndarray:
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"""Depth of the scene in `render`: a flat wall with the square in front of it."""
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depth = np.full((HEIGHT, WIDTH), WALL_MM, dtype=np.float32)
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left, top, right, bottom = (int(value) for value in corners)
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depth[top:bottom, left:right] = SQUARE_MM
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return depth
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if __name__ == "__main__":
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main()
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