feat(pose_3d): POST /align fit Umeyama cross-camera + persistenza

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

tests/test_pose_3d_align.py

@@ -0,0 +1,85 @@
+"""Test POST /api/pose_3d/align: fit Umeyama + persistenza config."""
+from __future__ import annotations
+
+from unittest.mock import patch, MagicMock
+
+import numpy as np
+from fastapi.testclient import TestClient
+
+from presa_mano.main import app
+from presa_mano.config import get_config
+
+client = TestClient(app)
+
+_CORNERS_PX = [[100, 100], [140, 100], [140, 140], [100, 140]]
+
+
+def _cam_with_points(points_by_pixel):
+    cam = MagicMock()
+    cam.intrinsics.return_value = {"rgb": {"fx": 600.0, "fy": 600.0, "cx": 320.0, "cy": 240.0}}
+    cam.rgb_url.return_value = "http://cam/rgb.png"
+
+    def _measure(u, v, radius=2):
+        key = (int(u), int(v))
+        if key in points_by_pixel:
+            x, y, z = points_by_pixel[key]
+        else:
+            xs = [p[0] for p in points_by_pixel.values()]
+            ys = [p[1] for p in points_by_pixel.values()]
+            zs = [p[2] for p in points_by_pixel.values()]
+            x, y, z = sum(xs)/len(xs), sum(ys)/len(ys), sum(zs)/len(zs)
+        return {"point_m": {"x": x, "y": y, "z": z}, "depth_mm": int(z * 1000)}
+    cam.measure.side_effect = _measure
+    return cam
+
+
+def _marker(found_ids):
+    mk = MagicMock()
+    mk.detect_url.return_value = {
+        "found": [{"id": i, "corners": _CORNERS_PX} for i in found_ids],
+        "not_found": [],
+    }
+    return mk
+
+
+def test_align_fits_and_persists():
+    nuwa_pts = {
+        (100, 100): (0.10, 0.10, 0.30),
+        (140, 100): (0.14, 0.10, 0.30),
+        (140, 140): (0.14, 0.14, 0.30),
+        (100, 140): (0.10, 0.14, 0.30),
+    }
+    d435_pts = {k: (v[0]*2, v[1]*2, v[2]*2) for k, v in nuwa_pts.items()}
+    with patch("presa_mano.api.pose_3d_routes._deps.nuwa") as nuwa_f, \
+         patch("presa_mano.api.pose_3d_routes._deps.front_camera") as front_f, \
+         patch("presa_mano.api.pose_3d_routes._deps.marker") as mk_f:
+        nuwa_f.return_value = _cam_with_points(nuwa_pts)
+        front_f.return_value = _cam_with_points(d435_pts)
+        mk_f.return_value = _marker([7])
+        r = client.post("/api/pose_3d/align?ids=0-9&align_id=7")
+        assert r.status_code == 200
+        body = r.json()
+        assert body["found_in_both"] is True
+        assert abs(body["scale"] - 2.0) < 1e-3
+        assert body["align_id"] == 7
+        cc = get_config()["pose_3d"]["cross_camera"]
+        assert abs(cc["scale"] - 2.0) < 1e-3
+        assert cc["align_id"] == 7
+        assert len(cc["R"]) == 3 and len(cc["t"]) == 3
+
+
+def test_align_tag_missing_in_one_camera_does_not_save():
+    pts = {(100,100):(0.1,0.1,0.3),(140,100):(0.14,0.1,0.3),
+           (140,140):(0.14,0.14,0.3),(100,140):(0.1,0.14,0.3)}
+    with patch("presa_mano.api.pose_3d_routes._deps.nuwa") as nuwa_f, \
+         patch("presa_mano.api.pose_3d_routes._deps.front_camera") as front_f, \
+         patch("presa_mano.api.pose_3d_routes._deps.marker") as mk_f:
+        nuwa_f.return_value = _cam_with_points(pts)
+        front_f.return_value = _cam_with_points(pts)
+        mk_f.return_value = _marker([1])  # nessun tag id=99
+        r = client.post("/api/pose_3d/align?ids=0-9&align_id=99")
+        assert r.status_code == 200
+        body = r.json()
+        assert body["found_in_both"] is False
+        assert body.get("error")
+        assert "cross_camera" not in get_config().get("pose_3d", {})