Bleenco

Estimate Density Map Peaks

Picks discrete peaks from a DensityMap given a requested UInt64 count, locating local maxima as weighted centroids and emitting, by deploy-time arm, the top-N [Point], a peak count, or a [Landmark] list with density as confidence.

Label COCO Body Landmarks

Reindexes a flat [Landmark] keypoint list in COCO-body order into a named Landmarks2d.Human17 record, exposing the 17 joints by field name instead of array position. A Maybe<Landmarks2d.Human17> sink instead yields an empty result when the list is short.

Triangulate 3D Points (Depth)

Monocular depth unprojection (NOT multi-view triangulation). Bilinearly samples a MetricDepthMap at each [Point] and inverse-pinhole back-projects through a CameraIntrinsics into camera-frame 3D.

Estimate Object Movement

Reduces a dense OpticalFlow tensor against [Mask] into one [Vector2d] per object, carrying the mask centroid as position and the thresholded mean per-mask flow as orientation, ready for smoothing or overlay.

Label COCO MPII Body Landmarks

Reindexes a flat [Landmark] body keypoint list into the 22-joint Landmarks2d.Human22 schema, interpolating neck, thorax, spine, and (COCO mode) head so COCO-17 or Halpe-26 detectors can both feed Human22 consumers.

Detect Object Containment

Polygon containment gate for Rectangle; emits Bool true when the anchor point (foot or centre, per anchor_mode) lies strictly inside the polygon defined in roi. Fast single-bbox in-zone check with no ML model.

Visualize Zone Transitions

Zone-transition overlay. Draws a configured polygon on Image and labels each [(Rectangle, UInt64)] tuple as Entry (code 1), Exit (code 2), or box-only; emits annotated Image. Pair with detect_zone_transition.

Flatten Audio Frames

Joins a [AudioFrame] batch head-to-tail into one AudioFrame, first unifying every frame to a common sample rate and channel layout so a mixed-format batch joins cleanly. Use when downstream needs one continuous segment but upstream emits a list of frames.

Label Halpe Body Landmarks

Reindexes a flat [Landmark] list in Halpe-26 order into a named Landmarks2d.Human26 record with full-body and foot fields. A Maybe<Landmarks2d.Human26> sink yields an empty result on a short list; either arm always emits exactly one output.

Collect Speech Turn

Buffers an AudioFrame stream guided by VAD spans ([{start: Double, end: Double}]) and a turn-end Double probability, emitting one padded utterance AudioFrame per completed speech turn plus a Bool collecting flag.

Check Geometry Within ROI

Spatial containment test: takes a geometry item (a box, point, mask, polygon or point list) and an ROI shape, and emits a Bool indicating whether the item lies inside or outside the region under the configured rule.

Project Points to Plane

Maps [Vector2d] image-space points onto a calibrated ground plane, emitting [Vector2d] world-coordinate positions. Uses a 9-element homography with radial lens undistortion.

Merge Point Clouds

Row-stacks every cloud in a [PointCloud] batch into one combined PointCloud, carrying optional colours and normals through when present; it concatenates only, performing no spatial alignment or deduplication.

Calculate Minimum Distance

Computes inter-object distances between tracked objects in the 2D image plane: takes a per-frame list of tracked-object records and emits, per object, the minimum Double distance to each other class — or the single nearest neighbour — as a list of distance records.

Calibrate Camera (Depth)

Calibrates a camera online from each Image: finds orthogonal vanishing points from scene line structure to recover focal length and principal point, optionally fusing known-size [BoundingBox] and a MetricDepthMap into a running CameraIntrinsics.

Label COCO Wholebody Hand Landmarks

Reindexes a flat [Landmark] hand list into a named Landmarks2d.Hand21 record (wrist plus four joints per finger: thumb, forefinger, middle, ring, pinky). A Maybe<Landmarks2d.Hand21> sink yields an empty result when the list is short.

Label Animal Landmarks (AP 10K)

Maps a flat AP-10K-ordered [Landmark] list onto a typed Landmarks2d.Animal17 record with named fields — eyes, nose, neck, tail, shoulders, elbows, paws, hips, and knees — so downstream stages address keypoints by name instead of index.

Compare Embedding Pairs

Computes the cosine similarity between two Embedding vectors and emits either the raw Double score or a Bool match decision once the score clears the configurable threshold.

Smooth 2D Positions (Kalman Filter)

Per-identity constant-velocity Kalman smoother. It takes [(UInt64, Point)] id-and-position pairs and emits a smoothed position with an averaged velocity direction per id as [Vector2d], holding one filter per tracking id across frames.

Convert Depth to Point Cloud

Back-projects a MetricDepthMap through a pinhole camera into 3D, emitting a dense per-pixel PointMap3D or a filtered PointCloud. Uses a wired CameraIntrinsics or a focal-length fallback, and can colour the cloud from an optional Image.

Track Bounding Boxes (Hungarian Algorithm)

Hungarian-algorithm multi-object tracker over per-frame [BoundingBox] or [Segmentation]. Class-aware gating, a tentative/confirmed/coasting lifecycle, and motion prediction give stable ids through occlusions. Emits one active-track list per frame, not per box.

Check Object Distance

Proximity flag for a pair of tracked objects: takes two class ids as Int64 and their separation as a Double and emits a Bool that is true when the distance is within the configured per-class-pair threshold.

Resample Audio Frame

Resamples each AudioFrame to a target rate while preserving the channel count, emitting an AudioFrame at the new rate. Use it to match the fixed input rate a downstream audio model or sink expects.

Register Point Clouds (ICP)

Rigidly aligns a source PointCloud onto a target PointCloud with iterative closest point. The sink resolves the arm: a metrics record with the transform plus fitness and RMSE, a bare rigid transform, or the source cloud rebased into the target frame.