cristhian
5a0f13d4db
Nothing in a dataflow carries fx, fy, cx and cy except the camera, and every pixel of a depth map needs them to become a 3D point. The node now accepts them so whatever computes that next has them to hand. They are read from two places because dora-zed publishes them twice: the camera_info message, and the metadata of every frame. The per-frame copy is not redundant -- camera_info goes out once per camera session, so a viewer started after the camera would otherwise never see it, and reading frame metadata means wiring the input is optional even for a camera that publishes it. A nine-element row-major K is accepted alongside the compact [fx, fy, cx, cy], since that is how ROS spells the same model in sensor_msgs/CameraInfo. The model is drawn under the caption rather than only stored. A depth map read through the wrong intrinsics looks entirely plausible, and this is where that becomes visible. as_float32 moves to a payload module: camera_info arrives as a raw byte slice for the same reason the depth map does, and the reinterpretation is now shared rather than written twice. Verified with dora-cli 1.0.1: validate passes with four contracts injected on each side, the dataflow runs to a clean exit, and a composed frame was rendered and inspected with the model drawn on it.
64 lines
2.1 KiB
YAML
64 lines
2.1 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, camera_info, 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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camera_info:
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type: std/core/v1/Float32
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description: >-
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[fx, fy, cx, cy] for the frames above. Published once, on the first tick,
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the way a real camera publishes it once per session.
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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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