dora-image-view/README.md

dora-plot

Dora node that overlays bounding boxes, labels and text on an image input and displays it in an OpenCV window. A display sink for debugging a vision pipeline: it produces no outputs.

Based on opencv-plot from dora-hub, brought up to the dora 1.0 node contract and packaged with uv.

Usage

Add to your dataflow:

nodes:
  - id: plot
    git: ssh://git@gitea.liria.cl:5001/liria/dora-plot.git
    tag: v0.1.0
    build: pip install .
    path: dora-plot
    inputs:
      image: camera/image
      bbox: detector/bbox
      text: detector/text

Run the dataflow with --uv (dora run dataflow.yml --uv) so the node gets its own managed environment.

Wire image from any node publishing one of the encodings below, and bbox from any detector publishing the struct below. Both inputs are optional: an image alone is a plain viewer.

Runnable example

dataflow.yml is self-contained. examples/source.py is a synthetic source node that emits an animated frame, the box around the square moving in it, and a caption — the three inputs this node draws — so the example needs no camera, no detector and no network:

dora run dataflow.yml --uv

A window opens with a square bouncing across a gradient, boxed and labelled. Press q to quit.

It builds both nodes from this checkout (path: + build:) rather than from a tag, which is what lets dora validate pick up the manifest described below.

Set SOURCE_FRAMES to stop the source after a fixed number of frames instead of running until you quit; that plus CI=true is how the same dataflow runs headless as a test:

CI=true SOURCE_FRAMES=30 dora run dataflow.yml --uv

SOURCE_WIDTH and SOURCE_HEIGHT (default 640x480) set the frame size.

Node manifest

dora-node.yml declares the node's inputs with type URNs. No source package is shared between node repositories, so it is the only contract a consumer has, and it is what makes a wiring mistake fail at build time instead of at runtime:

$ dora validate dataflow.yml
  node "plot": injected 2 contract type(s) from .../dora-node.yml
All type annotations OK.

image is std/core/v1/UInt8 and text is std/core/v1/String; the payloads are raw buffers described by their metadata, so the URN names the element type rather than a struct. bbox is deliberately left untyped — senders disagree on whether its numeric fields are 32- or 64-bit, and the node reads either.

Behavior

The node keeps a current frame, bbox set and text string. Each input updates its slice of that state:

• An image event decodes the frame and immediately redraws: it draws every stored bbox (green rectangle plus label, conf text), draws the stored text at the top left, resizes to PLOT_WIDTHxPLOT_HEIGHT if both are set, and shows it in a window titled Dora Node: dora-plot. Press q in the window to quit.
• A bbox or text event only updates stored state; it is drawn on the next image redraw.

Setting CI=true suppresses the display: the node still decodes every input but opens no window. That is what makes it safe to run in a pipeline test.

Inputs

Input	Payload	Metadata
image	Flat UInt8 array	width, height, encoding
bbox	Arrow struct array, element [0] with fields bbox, conf, labels	format
text	Arrow array of size 1	—

Supported encoding values: bgr8, rgb8, jpeg/jpg/jpe/bmp/webp/png (encoded byte stream), yuv420, avif. width and height are only needed by the raw encodings — the rest carry their own dimensions. An unsupported encoding raises.

Supported format values: xyxy and xywh (centre-based, converted to xyxy).

node.send_output("image", pa.array(frame.ravel()),
                 {"width": 640, "height": 480, "encoding": "bgr8"})

node.send_output("bbox", pa.array([{
    "bbox": np.array([...]),    # flattened, four values per box
    "conf": np.array([...]),
    "labels": np.array([...]),
}]), {"format": "xyxy"})

node.send_output("text", pa.array(["hello"]))

Outputs

None — it is a display sink.

Environment variables

Variable	Default	Meaning
PLOT_WIDTH	image width	Resize the displayed frame to this width, in pixels.
PLOT_HEIGHT	image height	Resize the displayed frame to this height, in pixels.

Resizing only happens when both are set. Both are also available as --plot-width and --plot-height; the environment variable wins when both are given.

CI=true suppresses the display window; it is not a configuration knob.

Build

uv sync

Every dependency ships prebuilt wheels for linux-x86_64, linux-aarch64 and macos-arm64, so the node installs with no system packages and no compiler on any of them — including AVIF support, which comes from pillow-avif-plugin rather than OpenCV.

Requirements: dora 1.0+ (verified with dora-cli 1.0.1), Python 3.11+, uv, and a display to show the window on (or CI=true to run without one).

Test

uv run pytest

Unit tests over decoding, the bbox format conversion and the headless draw path; they need neither a camera, a dataflow nor a display. The headless dataflow run above covers the rest — the manifest, the wiring and the event loop.