cristhian
a6fa3ce32b
dora's typed image is an Arrow struct of width, height, encoding and data -- it carries inside the payload what this node has been reading out of message metadata. The decoder now takes either shape: a struct describes itself and its metadata is ignored, a flat UInt8 buffer is described by width/height/ encoding beside it, and everything after unpacking is common. The declared contract stays std/core/v1/UInt8, deliberately. Type compatibility is directional -- Image satisfies a Bytes input, but a std/core/v1/UInt8 output wired into an std/media/v1/Image input is a validate error -- and dora-zed declares image_bgr as std/core/v1/UInt8. Flipping this manifest now would break the camera. Accepting both shapes first is what lets the producers move before the contract does. output_framing is not part of this. It selects the wire format, raw or arrow-ipc, and is not required for images: a struct payload was verified to arrive identically under both framings, and validate does not ask for arrow-ipc when an output is annotated std/media/v1/Image. It earns its keep when the wire must be self-describing, such as crossing languages or recording.
107 lines
3.3 KiB
Python
107 lines
3.3 KiB
Python
"""A dora display sink: overlays bounding boxes and text on an image input.
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`image` and `depth` each fill one panel of the window and redraw. `bbox`,
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`text` and `camera_info` events only update stored state, which the next redraw
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draws.
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"""
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import argparse
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import os
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import numpy as np
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from dora import Node
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from dora_image_view import bbox, decode, depth, intrinsics
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from dora_image_view.view import View
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def main() -> None:
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"""Connect to the dataflow and display every frame that arrives."""
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args = _parse_args()
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view = View(
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width=_size("VIEW_WIDTH", args.view_width),
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height=_size("VIEW_HEIGHT", args.view_height),
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headless=os.getenv("CI") == "true",
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)
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# Passing the name lets the node also run standalone as a dynamic node; when
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# dora spawns it, the id from the dataflow wins.
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node = Node(args.name)
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for event in node:
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if event["type"] == "ERROR":
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raise RuntimeError(event["error"])
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if event["type"] != "INPUT":
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continue
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event_id = event["id"]
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metadata = event["metadata"]
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# A sender that puts intrinsics on every frame keeps them current even
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# if the camera_info message itself was published before this node
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# started, which is when dora-zed sends it.
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view.intrinsics = intrinsics.from_metadata(metadata) or view.intrinsics
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panel = _decode_panel(event_id, event["value"], metadata)
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if panel is not None:
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name, frame = panel
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view.panels[name] = frame
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if view.show():
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break
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elif event_id == "camera_info":
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view.intrinsics = intrinsics.parse(event["value"], metadata)
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elif event_id == "bbox":
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view.bboxes = bbox.parse(event["value"], metadata.get("format", "xyxy").lower())
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elif event_id == "text":
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view.text = event["value"][0].as_py()
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else:
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print(f"ignoring unexpected input `{event_id}`")
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def _decode_panel(event_id: str, value, metadata: dict) -> tuple[str, np.ndarray] | None:
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"""Decode a frame-bearing input into the panel name and frame it fills.
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Returns None for an input that carries no frame, which is what tells the
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event loop to treat it as overlay state instead.
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"""
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if event_id == "image":
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return "image", decode.to_bgr(value, metadata)
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if event_id == "depth":
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return "depth", depth.colorize(depth.to_millimetres(value, metadata))
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return None
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def _parse_args() -> argparse.Namespace:
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parser = argparse.ArgumentParser(
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description="OpenCV viewer: image and depth, with bbox and text overlays.",
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)
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parser.add_argument(
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"--name",
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default="dora-image-view",
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help="The name of the node in the dataflow, used when running as a dynamic node.",
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)
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parser.add_argument(
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"--view-width",
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type=int,
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help="Resize the displayed frame to this width. Overridden by VIEW_WIDTH.",
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)
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parser.add_argument(
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"--view-height",
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type=int,
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help="Resize the displayed frame to this height. Overridden by VIEW_HEIGHT.",
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)
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return parser.parse_args()
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def _size(name: str, fallback: int | None) -> int | None:
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value = os.getenv(name)
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return int(value) if value and value.isnumeric() else fallback
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if __name__ == "__main__":
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main()
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