Publish typed Arrow payloads and wire dora-image-view #20

Merged

cristhian merged 2 commits from typed-image-payload into main 2026-09-15 15:13:34 +00:00

Conversation 2 Commits 2 Files Changed 15

+814 -287

2 Commits

Author	SHA1	Message	Date
cristhian	a4cd493330	docs: shorten the README and correct how the tick is described ... The README carried explanations that belong in AGENTS.md; it now follows the shape of the sibling node repositories and is a quarter shorter. The tick description was also wrong: it does not trigger a grab. Capture is free-running at ZED_FPS and a tick forwards the newest frame there is, so the tick sets the publish rate, and frames captured between two ticks are dropped. The usage snippet listed four of the five outputs, which read as an omission rather than the choice it is.	2026-09-15 10:52:12 -05:00
cristhian	c1a7d70ba6	add typed Arrow payloads and a dora-image-view dataflow ... 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.	2026-09-15 10:52:08 -05:00