nodes:
  - id: camera
    build: pip install -e ../../node-hub/dora-ios-lidar
    path: dora-ios-lidar
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - image
      - depth
    env:
      IMAGE_WIDTH: 1280
      IMAGE_HEIGHT: 720
      ROTATE: ROTATE_90_CLOCKWISE

  - id: rav1e-local
    path: dora-rav1e
    build: cargo build -p dora-rav1e --release
    inputs:
      image: camera/image
    outputs:
      - image
    env:
      RAV1E_SPEED: 10

  - id: rav1e-local-depth
    path: dora-rav1e
    build: cargo build -p dora-rav1e --release
    inputs:
      depth: camera/depth
    outputs:
      - depth
    env:
      RAV1E_SPEED: 10
  - id: dav1d-local-depth
    path: dora-dav1d
    build: cargo build -p dora-dav1d --release
    inputs:
      depth: rav1e-local-depth/depth
    outputs:
      - depth
  - id: dav1d-local
    path: dora-dav1d
    build: cargo build -p dora-dav1d --release
    inputs:
      image: rav1e-local/image
    outputs:
      - image

  - id: plot
    build: pip install -e ../../node-hub/dora-rerun
    path: dora-rerun
    inputs:
      image: dav1d-local/image
      depth: dav1d-local-depth/depth