Port complete CAN-aware risk pipeline to C++

include/visualizer.hpp

@@ -0,0 +1,11 @@
+#pragma once
+#include "frame_result.hpp"
+#include <opencv2/core.hpp>
+
+namespace cms {
+class CameraPipeline;
+// Pure drawing from the immutable result. Never re-runs inference.
+cv::Mat renderResult(FrameResult const& result);
+// Optional observer: closing the window returns without stopping the pipeline.
+void runLocalVisualization(CameraPipeline const& pipeline);
+}