dora/node-hub/dora-rerun

• dora-rerun
• • Getting Started
  • Adding to existing graph:
  • Input definition
  • (Experimental) For plotting 3D URDF
  • Configurations
  • Reference documentation
  • Examples
  • License

dora-rerun

dora visualization using rerun

This nodes is still experimental and format for passing Images, Bounding boxes, and text are probably going to change in the future.

Getting Started

pip install dora-rerun

Adding to existing graph:

- id: plot
  build: pip install dora-rerun
  path: dora-rerun
  inputs:
    image:
      source: camera/image
      queue_size: 1
    text_qwenvl: dora-qwenvl/text
    text_whisper: dora-distil-whisper/text
  env:
    IMAGE_WIDTH: 640
    IMAGE_HEIGHT: 480
    README: |
            # Visualization
    RERUN_MEMORY_LIMIT: 25%

Input definition

• image: UInt8Array + metadata { "width": int, "height": int, "encoding": str }
• boxes2D: StructArray + metadata { "format": str }
• text: StringArray
• jointstate: Float32Array

(Experimental) For plotting 3D URDF

pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git

Make sure to name the dataflow as follows:

- id: rerun
  path: dora-rerun
  inputs:
    jointstate_<ENTITY_NAME>: <ENTITY_NAME>/jointstate
  env:
    <ENTITY_NAME>_urdf: /path/to/<ENTITY_NAME>.urdf
    <ENTITY_NAME>_transform: 0 0.3 0

[!IMPORTANT]
Make sure that the urdf file name correspond to your dataflow object name otherwise, it will not be able to link to the corresponding entity.

[!WARNING]
Please make sure to review the following gotchas:

• Filename included in URDF are going to be relative to your dataflow working directory instead of the URDF path: https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/13
• URDF loader is not on pip and so you need to install it yourself https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
• There is no warning if a file is not logged properly. https://github.com/rerun-io/rerun-loader-python-example-urdf/pull/14
• There is no transparent color in rerun. https://github.com/rerun-io/rerun/issues/1611

Configurations

• RERUN_MEMORY_LIMIT: Rerun memory limit

Reference documentation

• dora-rerun
  • github: https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun
  • website: http://dora-rs.ai/docs/nodes/rerun
• rerun
  • github: https://github.com/rerun-io/rerun
  • website: https://rerun.io

Examples

• speech to text
  • github: https://github.com/dora-rs/dora/blob/main/examples/speech-to-text
  • website: https://dora-rs.ai/docs/examples/stt
• vision language model
  • github: https://github.com/dora-rs/dora/blob/main/examples/vlm
  • website: https://dora-rs.ai/docs/examples/vlm

License

The code and model weights are released under the MIT License.