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.
21 lines
595 B
YAML
21 lines
595 B
YAML
# The repository's own example: builds and runs the node from this checkout, so
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# `dora validate` picks up the typed contract in dora-node.yml next to it.
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# A consumer wires the node from a tag instead — see README.md.
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#
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# The camera alone, with no viewer and no Python dependency. For a run that
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# also displays the stream, use dataflow_view.yml.
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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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