Upd chunk mask to be transparrent

app.py

@@ -117,13 +117,24 @@ def build_masks(seg):
     return water_mask, garbage_mask, movable_mask
 
 # Garbage mask can be highlighted in red
-def highlight_chunk_masks_on_frame(frame, labels, num_cc, color=(128, 0, 0)):
-    """Draw filled red areas over the garbage chunk regions"""
-    for lab in range(1, num_cc):
+def highlight_chunk_masks_on_frame(frame, labels, objs, num_cc, color_uncollected=(0, 0, 128), color_collected=(0, 128, 0), alpha=0.3):
+    """
+    Overlays semi-transparent colored regions for garbage chunks on the frame.
+    `objs` must have 'pos' and 'col' keys. The collection status changes the overlay color.
+    """
+    overlay = frame.copy()
+    for i, obj in enumerate(objs):
+        x, y = obj["pos"]
+        lab = labels[y, x]
+        if lab == 0:
+            continue
         mask = (labels == lab).astype(np.uint8)
         contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-        cv2.drawContours(frame, contours, -1, color, thickness=cv2.FILLED)
-    return frame
+        color = color_collected if obj["col"] else color_uncollected
+        cv2.drawContours(overlay, contours, -1, color, thickness=cv2.FILLED)
+
+    # Blend overlay with original frame using alpha
+    return cv2.addWeighted(overlay, alpha, frame, 1 - alpha, 0)
 
 # ── A* and KNN over binary water grid ─────────────────────────────────
 def astar(start, goal, occ):
@@ -426,11 +437,11 @@ def _pipeline(uid,img_path):
     bg = bgr.copy()
     for _ in range(15000): # safety frames
         frame=bg.copy()
-        # Draw garbage chunk masks in red
-        frame = highlight_chunk_masks_on_frame(frame, labels, num_cc, color=(0, 0, 255))
+        # Draw garbage chunk masks in red-to-green (semi-transparent)
+        frame = highlight_chunk_masks_on_frame(frame, labels, objs)
         # Draw object detections as red (to green) dots
         for o in objs:
-            color = (0, 0, 255) if not o["col"] else (0, 255, 0)
+            color = (0, 0, 128) if not o["col"] else (0, 128, 0)
             x, y = o["pos"]
             cv2.circle(frame, (x, y), 6, color, -1)
         # robot