rko_lio.rerun_viz module

class rko_lio.rerun_viz.LatestMailbox

Bases: object

Single-slot, latest-wins handoff between producer and one consumer. Producer never blocks.

close()

get()

put(item)

class rko_lio.rerun_viz.Viz(map_log_period_s: float = 1.0, rbl_path: Path | None = None, reset: bool = True, gravity_aligned: bool = True)

Bases: object

Spawns the rerun viewer and logs everything the pipeline hands it. Point clouds go out on a worker thread via send_columns, which binds the timestamp to the data, so the worker never races the main thread’s set_time.

close()

cloud_log_loop()

log_frame(**kwargs)

log_imu(time_ns: int, acceleration, angular_velocity)

log_interval_stats(time_ns: int, stats)

log_vector(entity_path_prefix: str, vector)

wants_local_map(time_ns: int) → bool

querying the map is expensive. get it and log every map_log_period_s

rko_lio.rerun_viz.default_blueprint()

rko_lio.rerun_viz.height_colors(points: numpy.ndarray, color_map: numpy.ndarray = numpy.array) → numpy.ndarray