cristhian
8a7bda5867
Both inputs now declare dora's Arrow struct {width, height, encoding, data}
rather than a flat buffer plus loose metadata. The payload describes itself, so
nothing about its shape has to be agreed out of band, and the frame travels as
one Arrow value instead of a buffer whose meaning lives in a sidecar dict.
Depth uses the same type. dora's registry has no depth type, and a depth map is
an image whose pixels are distances -- the reading ROS takes as well -- so it
arrives with a single-channel encoding: 32FC1/float32 or 16UC1/mono16/uint16.
`units` stays in message metadata because the struct has no field for it.
decode.IMAGE_TYPE is the single definition of the struct; the example source
and the tests build payloads from it rather than respelling the schema.
The older shapes are still decoded -- a flat UInt8 buffer with
width/height/encoding for image, a flat Float32 buffer with shape/units for
depth -- so a producer's payload can move before its manifest does. That is
only half a migration path: type compatibility is directional, so a producer
still declaring std/core/v1/UInt8 fails validate against an
std/media/v1/Image input regardless of what it sends, and has to update its
manifest too.
Verified: 41 tests, validate clean with 4 contracts injected, the dataflow runs
to a clean exit, and a composite rendered through the struct path is identical
to the one rendered before the migration.
99 lines
4.1 KiB
YAML
99 lines
4.1 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, text and camera intrinsics overlays
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categories: [visualization, debug]
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keywords: [opencv, view, bbox, bounding-box, image, depth, intrinsics, camera-info, 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/media/v1/Image
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required: false
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description: >-
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Base image to draw on: an Arrow struct {width, height, encoding, data}.
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Supported encodings: bgr8, rgb8, jpeg/jpg/jpe/bmp/webp/png (encoded
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bytes), yuv420, avif. Receiving this input triggers a redraw and display.
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A flat UInt8 buffer described by {width, height, encoding} metadata is
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still decoded, for producers that have not moved to the struct.
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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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camera_info:
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type: std/core/v1/Float32
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required: false
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description: >-
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The pinhole model the depth map is interpreted through: [fx, fy, cx, cy],
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or a nine-element row-major K as ROS spells it in sensor_msgs/CameraInfo.
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Distortion coefficients are read from the `distortion` metadata. Stored
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and displayed, and held for readers that turn depth into 3D. A sender
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that also puts fx/fy/cx/cy in each frame's metadata does not need to wire
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this input -- they are picked up from there, which is what covers a
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camera that published its intrinsics before this node started.
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depth:
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type: std/media/v1/Image
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required: false
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description: >-
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Depth map as an Arrow struct {width, height, encoding, data}, one channel
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per pixel. Supported encodings: 32FC1/float32 and 16UC1/mono16/uint16 --
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dora has no depth type, and a depth map is an image whose pixels are
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distances, which is how ROS spells it too. Millimetres unless the `units`
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metadata says `m`; 0 and non-finite values are missing depth and draw
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black. Colour-mapped into its own panel, which receiving this input
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redraws. A flat Float32 buffer with {shape, units} metadata is still
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decoded, for producers that have not moved to the struct.
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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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camera_info: camera/camera_info
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bbox: detector/bbox
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text: detector/text
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