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dora/examples/av1-encoding/dataflow_reachy.yml

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  1. nodes:

  2.   - id: camera

  3.     path: dora-reachy2-camera

  4.     _unstable_deploy:

  5.       machine: encoder

  6.     inputs:

  7.       tick: dora/timer/millis/50

  8.     outputs:

  9.       - image_right

  10.       - image_left

  11.       - image_depth

  12.       - depth

  13.     env:

  14.       CAPTURE_PATH: 0

  15.       IMAGE_WIDTH: 640

  16.       IMAGE_HEIGHT: 480

  17.       ROBOT_IP: 127.0.0.1

  18. 

  19.   - id: rav1e-local

  20.     path: dora-rav1e

  21.     build: cargo build -p dora-rav1e --release

  22.     _unstable_deploy:

  23.       machine: encoder

  24.     inputs:

  25.       depth: camera/depth

  26.     outputs:

  27.       - depth

  28.     env:

  29.       RAV1E_SPEED: 7

  30. 

  31.   - id: rav1e-local-image

  32.     path: dora-rav1e

  33.     build: cargo build -p dora-rav1e --release

  34.     _unstable_deploy:

  35.       machine: encoder

  36.     inputs:

  37.       image_depth: camera/image_depth

  38.       image_left: camera/image_left

  39.     outputs:

  40.       - image_left

  41.       - image_depth

  42.       - depth

  43.     env:

  44.       RAV1E_SPEED: 10

  45. 

  46.   - id: dav1d-remote

  47.     path: dora-dav1d

  48.     build: cargo build -p dora-dav1d --release

  49.     _unstable_deploy:

  50.       machine: plot

  51.     inputs:

  52.       image_depth: rav1e-local-image/image_depth

  53.       image_left: rav1e-local-image/image_left

  54.       depth: rav1e-local/depth

  55.     outputs:

  56.       - image_left

  57.       - image_depth

  58.       - depth

  59. 

  60.   - id: plot

  61.     build: pip install -e ../../node-hub/dora-rerun

  62.     _unstable_deploy:

  63.       machine: plot

  64.     path: dora-rerun

  65.     inputs:

  66.       image: dav1d-remote/image_depth

  67.       depth: dav1d-remote/depth

  68.       image_left: dav1d-remote/image_left