s6.app.pipeline.render_helpers

Reusable rendering and projection helpers for pipeline image overlays.

s6.app.pipeline.render_helpers.colorize_mask(mask: ndarray) → ndarray

Map a mask to a colorized BGR image.

s6.app.pipeline.render_helpers.render_prediction_overlay(image: ndarray, mask: ndarray | None, output_size: tuple[int, int]) → ndarray

Blend a prediction mask over an image and resize the result.

s6.app.pipeline.render_helpers.project_world_point(camera: Camera, point_world: Vector3D) → Vector2D | None

Project a world-space point into a camera image.

s6.app.pipeline.render_helpers.project_world_line_polyline(camera: Camera, line_world: Tuple[Vector3D, Vector3D], subdivision: int = 64) → List[ndarray]

Project a world-space segment into contiguous image-space polyline runs.

s6.app.pipeline.render_helpers.draw_frame_status_panel(image: ndarray, camera_key: str, timestamp_ms: float, displacement: Vector3D, velocity: Vector3D, acceleration: Vector3D) → None

Draw the T1 diagnostic status panel on one image.

s6.app.pipeline.render_helpers.draw_projected_tip_velocity(image: ndarray, camera: Camera, tip_point: Vector3D, tip_trajectory: TrajectoryV2, arrow_scale: float, *, color: Tuple[int, int, int] = (0, 200, 255), thickness: int = 2) → None

Draw a projected tip-velocity arrow on one image.

s6.app.pipeline.render_helpers.draw_segment_endpoint_markers(image: ndarray, mask_line_segment: MaskLineSegment2D, endpoint_colors: Sequence[Tuple[int, int, int]]) → None

Draw endpoint markers for a fitted 2D line segment.

s6.app.pipeline.render_helpers.draw_epipolar_lines_for_segment(source_camera: Camera, target_camera: Camera, target_image: ndarray, mask_line_segment: MaskLineSegment2D, endpoint_colors: Sequence[Tuple[int, int, int]], *, thickness: int = 2) → None

Draw epipolar lines for each segment endpoint onto a target image.

s6.app.pipeline.render_helpers.draw_epipolar_line_for_point(source_camera: Camera, target_camera: Camera, target_image: ndarray, point: Vector2D | None, color: Tuple[int, int, int], *, thickness: int = 2) → None

Draw a single point’s epipolar line onto a target image.

s6.app.pipeline.render_helpers.draw_world_line_overlay(image: ndarray, camera: Camera, line_world: Tuple[Vector3D, Vector3D], subdivision: int, color: Tuple[int, int, int], *, thickness: int = 2) → None

Project and draw a world-space line on one image.

s6.app.pipeline.render_helpers.draw_world_point_overlay(image: ndarray, camera: Camera, point_world: Vector3D | None, *, radius: int = 8, color: Tuple[int, int, int] = (128, 255, 128)) → None

Project and draw a world-space point on one image.

s6.app.pipeline.render_helpers.draw_projected_world_segment(image: ndarray, camera: Camera, start_world: Vector3D | None, end_world: Vector3D | None, *, color: Tuple[int, int, int], thickness: int) → None

Project and draw a world-space segment on one image.