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.
47 lines
1.5 KiB
YAML
47 lines
1.5 KiB
YAML
# The camera into dora-image-view, and the worked example of wiring this node to
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# a consumer.
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#
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# dora has no cross-dataflow wiring, so the camera node is declared here too
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# rather than referenced — run this file or dataflow.yml, not both.
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#
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# Run it with `--uv`, which gives the viewer its own managed environment:
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#
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# dora run dataflow_view.yml --uv
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#
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# Fetching the viewer needs anonymous read access to its repository. dora-cli
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# 1.0.1 fetches through libgit2 with no credential callback, so ssh:// cannot
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# authenticate at all; on Gitea, marking the repository public is not enough
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# either, since a repository inside a private organization answers an anonymous
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# clone with 401.
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strict_types: true
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nodes:
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- id: zed-camera
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path: bin/dora_zed
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build: scripts/build.sh
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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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- id: view
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git: https://gitea.liria.cl/liria/dora-image-view.git
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tag: v0.1.0
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build: uv pip install .
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path: dora-image-view
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inputs:
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image: zed-camera/image
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depth: zed-camera/depth
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camera_info: zed-camera/camera_info
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# The viewer's own manifest says this, but a `git:` node's manifest is not
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# read at validate time — only at build. Repeating it here is what makes the
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# two contracts checked against each other now rather than at runtime.
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input_types:
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image: std/media/v1/Image
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depth: std/media/v1/Image
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camera_info: std/core/v1/Float32
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