dora-image-view takes std/media/v1/Image, and dora's compatibility graph
has no edge from std/core/v1/UInt8 to it, so wiring the two failed
`dora validate` whatever the node actually sent. Its flat-buffer fallback
would not have decoded these frames either: it reads width/height
metadata, and this node only published shape.
image and depth now go out as the Image struct, camera_info and
point_cloud as Float32 arrays and camera_state as a string, all built
against the Arrow C data interface in src/arrow so the node still links
no Arrow C++. Shape, dtype and encoding metadata are dropped where the
payload describes itself; intrinsics, frame_id and both timestamps are
unchanged. tests/run.sh covers the packing without a camera or the SDK,
round-tripping each array through pyarrow and rebuilding it under the
sanitizers.
Breaking: image_bgr is renamed to image and every payload changes shape.
dataflow_plot.yml is replaced by dataflow_view.yml, which wires the
viewer from a tag and repeats its contract in input_types so validate
checks both sides of the wiring.
No source package is shared between node repositories, so the manifest and its
type URNs are the only contract a consumer has. Declaring them makes a wiring
mistake fail at validate time with the producer and consumer URNs, instead of
at runtime.
Every payload this node sends is a raw buffer whose shape and dtype live in the
metadata rather than an Arrow struct, so the URNs name the element type:
UInt8 for image_bgr, Float32 for depth, camera_info and point_cloud, String for
camera_state. tick is UInt64, matching how dora types timer inputs.
dataflow.yml now builds the node from the checkout with path: + build:. A
git:-sourced node does not pick up an adjacent manifest, so validating the
previous form checked nothing; with path: the CLI reports "injected 6 contract
type(s)" and a deliberately mismatched annotation exits non-zero under
strict_types. The README keeps the tag: form for consumers.
The workflow needs no camera and no ZED SDK, since validation never runs the
node. Also ignores the git/ and out/ working directories dora build creates,
and drops the ignore rules for the deleted test assets.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
cristhian
