fix ci/cd and improve examples

Cargo.lock

@@ -2779,9 +2779,9 @@ checksum = "5c297a1c74b71ae29df00c3e22dd9534821d60eb9af5a0192823fa2acea70c2a"
 
 [[package]]
 name = "dav1d"
-version = "0.10.3"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d4b54a40baf633a71c6f0fb49494a7e4ee7bc26f3e727212b6cb915aa1ea1e1"
+checksum = "80c3f80814db85397819d464bb553268992c393b4b3b5554b89c1655996d5926"
 dependencies = [
  "av-data",
  "bitflags 2.9.0",

examples/av1-encoding/ios-dev.yaml

@@ -0,0 +1,73 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-ios-lidar
+    path: dora-ios-lidar
+    _unstable_deploy:
+      machine: encoder-ios
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - image
+      - depth
+    env:
+      IMAGE_WIDTH: 640
+      IMAGE_HEIGHT: 480
+
+  - id: rav1e-local
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    _unstable_deploy:
+      machine: encoder-ios
+    inputs:
+      image: camera/image
+      depth: camera/depth
+    outputs:
+      - image
+      - depth
+    env:
+      RAV1E_SPEED: 4
+
+  - id: dav1d-remote
+    path: dora-dav1d
+    build: cargo build -p dora-dav1d --release
+    _unstable_deploy:
+      machine: decoder
+    inputs:
+      image: rav1e-local/image
+      depth: rav1e-local/depth
+    outputs:
+      - image
+      - depth
+
+  - id: rav1e-remote
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    _unstable_deploy:
+      machine: decoder
+    inputs:
+      image: dav1d-remote/image
+      depth: dav1d-remote/depth
+    outputs:
+      - image
+      - depth
+
+  - id: dav1d-local
+    path: dora-dav1d
+    build: cargo build -p dora-dav1d --release
+    _unstable_deploy:
+      machine: encoder-ios
+    inputs:
+      image: rav1e-remote/image
+      depth: rav1e-remote/depth
+    outputs:
+      - image
+      - depth
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    _unstable_deploy:
+      machine: encoder-ios
+    inputs:
+      image: dav1d-remote/image
+      depth: dav1d-remote/depth

examples/depth_camera/ios-dev.yaml

@@ -7,6 +7,9 @@ nodes:
     outputs:
       - image
       - depth
+    env:
+      IMAGE_WIDTH: 640
+      IMAGE_HEIGHT: 480
 
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun

node-hub/dora-ios-lidar/dora_ios_lidar/main.py

@@ -1,5 +1,6 @@
 """TODO: Add docstring."""
 
+import os
 from threading import Event
 
 import cv2
@@ -9,6 +10,9 @@ from dora import Node
 from record3d import Record3DStream
 from scipy.spatial.transform import Rotation
 
+image_width = os.getenv("IMAGE_WIDTH")
+image_height = os.getenv("IMAGE_HEIGHT")
+
 
 class DemoApp:
     """TODO: Add docstring."""
@@ -87,10 +91,23 @@ class DemoApp:
                 intrinsic_mat = self.get_intrinsic_mat_from_coeffs(
                     self.session.get_intrinsic_mat(),
                 )
-                pose = self.get_camera_pose()
+                # pose = self.get_camera_pose()
 
                 if depth.shape != rgb.shape:
                     rgb = cv2.resize(rgb, (depth.shape[1], depth.shape[0]))
+                if image_width is not None and image_height is not None:
+                    f_0 = intrinsic_mat[0, 0] * (int(image_height) / rgb.shape[0])
+                    f_1 = intrinsic_mat[1, 1] * (int(image_width) / rgb.shape[1])
+                    r_0 = intrinsic_mat[0, 2] * (int(image_height) / rgb.shape[0])
+                    r_1 = intrinsic_mat[1, 2] * (int(image_width) / rgb.shape[1])
+                    rgb = cv2.resize(rgb, (int(image_width), int(image_height)))
+                    depth = cv2.resize(depth, (int(image_width), int(image_height)))
+                else:
+                    f_0 = intrinsic_mat[0, 0]
+                    f_1 = intrinsic_mat[1, 1]
+                    r_0 = intrinsic_mat[0, 2]
+                    r_1 = intrinsic_mat[1, 2]
+
                 node.send_output(
                     "image",
                     pa.array(rgb.ravel()),
@@ -102,7 +119,7 @@ class DemoApp:
                 )
 
                 depth = (np.array(depth) * 1_000).astype(np.uint16)
-
+                depth = np.clip(depth, 0, 4095)  # Clip depth to uint12
                 node.send_output(
                     "depth",
                     pa.array(depth.ravel()),
@@ -111,16 +128,16 @@ class DemoApp:
                         "height": depth.shape[0],
                         "encoding": "mono16",
                         "focal": [
-                            int(intrinsic_mat[0, 0]),
-                            int(intrinsic_mat[1, 1]),
+                            int(f_0),
+                            int(f_1),
                         ],
                         "resolution": [
-                            int(intrinsic_mat[0, 2]),
-                            int(intrinsic_mat[1, 2]),
+                            int(r_0),
+                            int(r_1),
                         ],
-                        "roll": pose[3],
-                        "pitch": pose[4],
-                        "yaw": pose[5],
+                        # "roll": pose[3],
+                        # "pitch": pose[4],  # Adding 90 degrees to pitch
+                        # "yaw": pose[5],
                     },
                 )
 

node-hub/dora-ios-lidar/pyproject.toml

@@ -5,9 +5,9 @@ authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-ios-lidar"
 license = { text = "MIT" }
 readme = "README.md"
-requires-python = ">=3.8"
+requires-python = "==3.8"
 
-dependencies = ["dora-rs >= 0.3.9", "opencv-python>=4.11.0.86", "record3d>=1.4"]
+dependencies = ["dora-rs >= 0.3.9", "opencv-python>=4.11.0.86", "record3d>=1.4", "scipy"]
 
 [dependency-groups]
 dev = ["pytest >=8.1.1", "ruff >=0.9.1"]

node-hub/dora-rerun/src/lib.rs

@@ -189,8 +189,8 @@ pub fn lib_main() -> Result<()> {
                 } else {
                     camera_pitch
                 };
-                let cos_theta = pitch.cos(); // np.cos(np.deg2rad(180-38))
-                let sin_theta = pitch.sin(); // np.sin(np.deg2rad(180-38))
+                let cos_theta = pitch.cos();
+                let sin_theta = pitch.sin();
 
                 let points = match data.data_type() {
                     dora_node_api::arrow::datatypes::DataType::Float64 => {