Adding 2d points

Author: haixuanTao

examples/mediapipe/README.md

@@ -0,0 +1,11 @@
+# Mediapipe example
+
+## Make sure to have a webcam connected
+
+```bash
+uv venv --seed
+dora build rgb-dev.yml --uv
+dora run rgb-dev.yml --uv
+
+## If the points are not plotted by default, you should try to add a 2d viewer within rerun.
+```

examples/mediapipe/rgb-dev.yml

@@ -1,6 +1,6 @@
 nodes:
   - id: camera
-    build: pip install opencv-video-capture
+    build: pip install -e ../../node-hub/opencv-video-capture
     path: opencv-video-capture
     inputs:
       tick: dora/timer/millis/100
@@ -18,8 +18,9 @@ nodes:
       - points2d
 
   - id: plot
-    build: pip install dora-rerun
+    build: pip install -e ../../node-hub/dora-rerun
     path: dora-rerun
     inputs:
       image: camera/image
-      series_mediapipe: dora-mediapipe/points2d
+      # Make sure to add a 2d viewer to see the points
+      points2d: dora-mediapipe/points2d

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

@@ -4,15 +4,17 @@ use std::{collections::HashMap, env::VarError, path::Path};
 
 use dora_node_api::{
     arrow::{
-        array::{Array, AsArray, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array},
+        array::{Array, AsArray, Float64Array, StringArray, UInt16Array, UInt8Array},
         datatypes::Float32Type,
     },
     dora_core::config::DataId,
     into_vec, DoraNode, Event, Parameter,
 };
 use eyre::{eyre, Context, Result};
 
-use rerun::{components::ImageBuffer, external::log::warn, ImageFormat, Points3D, SpawnOptions};
+use rerun::{
+    components::ImageBuffer, external::log::warn, ImageFormat, Points2D, Points3D, SpawnOptions,
+};
 pub mod boxes2d;
 pub mod series;
 pub mod urdf;
@@ -374,6 +376,33 @@ pub fn lib_main() -> Result<()> {
                     });
                     let points = Points3D::new(points).with_radii(vec![0.013; colors.len()]);
 
+                    rec.log(dataid.as_str(), &points.with_colors(colors))
+                        .context("could not log points")?;
+                }
+            } else if id.as_str().contains("points2d") {
+                // Get color or assign random color in cache
+                let color = color_cache.get(&id);
+                let color = if let Some(color) = color {
+                    color.clone()
+                } else {
+                    let color =
+                        rerun::Color::from_rgb(rand::random::<u8>(), 180, rand::random::<u8>());
+
+                    color_cache.insert(id.clone(), color.clone());
+                    color
+                };
+                let dataid = id;
+
+                // get a random color
+                if let Ok(buffer) = into_vec::<f32>(&data) {
+                    let mut points = vec![];
+                    let mut colors = vec![];
+                    buffer.chunks(2).for_each(|chunk| {
+                        points.push((chunk[0], chunk[1]));
+                        colors.push(color);
+                    });
+                    let points = Points2D::new(points);
+
                     rec.log(dataid.as_str(), &points.with_colors(colors))
                         .context("could not log points")?;
                 }