cristhian
c1a7d70ba6
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.
67 lines
2.3 KiB
YAML
67 lines
2.3 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 no camera and no
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# ZED SDK.
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apiVersion: 1
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name: dora-zed
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namespace: liria
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description: ZED stereo camera source publishing an image, a depth map, intrinsics and an optional point cloud
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categories: [sensor]
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keywords: [zed, stereolabs, camera, depth, stereo, jetson]
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runtime: cpp
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entrypoint: bin/dora_zed
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build: scripts/build.sh
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dora: ">=1.0"
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inputs:
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tick:
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type: std/core/v1/UInt64
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required: true
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description: >-
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Publishes the newest frame the capture thread has grabbed, or nothing if
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none arrived since the last tick. It does not drive the camera: capture is
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free-running at ZED_FPS, so this sets the publish rate and anything
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captured between two ticks is dropped. Connect to dora/timer/millis/N.
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outputs:
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image:
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type: std/media/v1/Image
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description: >-
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Captured frame as an Arrow struct {width, height, encoding, data}. The
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encoding is always bgr8, three bytes per pixel.
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depth:
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type: std/media/v1/Image
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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 -- dora has no depth type, and a depth map is an image whose
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pixels are distances, which is how ROS spells it too. The encoding is
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32FC1 and the `units` metadata is mm. Missing depth is 0, never inf or
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nan.
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camera_info:
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type: std/core/v1/Float32
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description: Intrinsics [fx, fy, cx, cy], distortion in the metadata. Published once per camera session.
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point_cloud:
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type: std/core/v1/Float32
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description: XYZRGBA point cloud, shape in the metadata. Published only when ZED_POINT_CLOUD is on.
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camera_state:
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type: std/core/v1/String
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description: One of opening, streaming, recovering. Published on every change.
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example: |
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- id: zed-camera
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git: https://gitea.liria.cl/liria/dora-zed.git
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tag: v0.3.0
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build: scripts/build.sh
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path: bin/dora_zed
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image
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- depth
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- point_cloud
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- camera_info
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- camera_state
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