feat(pose_3d): piazzamento Nuwa allineato nel frame D435i (matrice)

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

web/pose_3d.js

@@ -222,6 +222,7 @@ const state = {
   joint_ucses: [],        // array di THREE.Group, UCS per ogni link URDF (debug)
   clouds_cfg: null,       // {nuwa:{...}, d435:{...}} dal config
   cloud_points: { nuwa: null, d435: null },  // THREE.Points obj per camera
+  align: { enabled: false, id: 0, matrix: null /* THREE.Matrix4 */ },
   tag_locator: {           // sezione "Tag locator" nella sidebar Pose 3D
     marker: null,          //   THREE.LineSegments (crocetta XYZ) o null
     position_m: null,      //   [x,y,z] in pelvis frame della crocetta corrente
@@ -1605,8 +1606,12 @@ function buildOrUpdateCloud(camKey, pointsFlat) {
     `Y[${ymin.toFixed(2)},${ymax.toFixed(2)}]`,
     `Z[${zmin.toFixed(2)},${zmax.toFixed(2)}]`);
   // (Ri-)attacca al parent corretto e applica transform optical→link
+  if (camKey === 'nuwa') {
+    applyNuwaCloudPlacement();
+  } else {
     if (pts.parent !== parent) parent.add(pts);
     applyCloudTransform(camKey);
+  }
   applyCloudVisibility();
   return pts;
 }
@@ -1621,6 +1626,24 @@ function applyCloudVisibility() {
 // Applica position+rpy+mirror sui punti del cloud `camKey`. Il mirror (sign
 // flip per asse) avviene IN FRAME OTTICO grazie all'ordine T·R·S di Three.js
 // (lo scale e' la prima operazione applicata al punto locale).
+// Matrix4 locale (rispetto al parent getCloudParent('d435')) usata dal cloud
+// D435i: hand-eye (M·S) oppure URDF (T·R·S). Riusata per piazzare la Nuwa
+// allineata nello stesso frame del D435i.
+function d435LocalMatrix() {
+  const sv = readCloudScaleVec('d435');
+  const S = new THREE.Matrix4().makeScale(sv[0], sv[1], sv[2]);
+  if (useD435Handeye()) {
+    const M = getD435HandeyeMatrix();
+    if (M) return M.clone().multiply(S);
+  }
+  const t = getCloudTransform('d435');
+  const T = new THREE.Matrix4().makeTranslation(t.offset_m[0], t.offset_m[1], t.offset_m[2]);
+  const e = new THREE.Euler(
+    t.rpy_deg[0]*Math.PI/180, t.rpy_deg[1]*Math.PI/180, t.rpy_deg[2]*Math.PI/180, 'XYZ');
+  const R = new THREE.Matrix4().makeRotationFromEuler(e);
+  return T.multiply(R).multiply(S);
+}
+
 function applyCloudTransform(camKey) {
   const pts = state.cloud_points[camKey];
   if (!pts) return;
@@ -1652,6 +1675,34 @@ function applyCloudTransform(camKey) {
   pts.scale.set(sv[0], sv[1], sv[2]);
 }
 
+// Piazza la nuvola Nuwa: in modalità allineata la renderizza nel frame del
+// D435i (parent + pipeline D435i · matrice di allineamento); altrimenti usa il
+// piazzamento URDF normale.
+function applyNuwaCloudPlacement() {
+  const pts = state.cloud_points.nuwa;
+  if (!pts) return;
+  const aligned = state.align.enabled && state.align.matrix;
+  if (aligned) {
+    const parent = getCloudParent('d435');
+    if (parent) {
+      if (pts.parent !== parent) parent.add(pts);
+      pts.matrixAutoUpdate = false;
+      pts.matrix.copy(d435LocalMatrix()).multiply(state.align.matrix);
+      pts.matrixWorldNeedsUpdate = true;
+      return;
+    }
+  }
+  if (state.align.enabled && !state.align.matrix) {
+    const s = $('p3AlignStatus');
+    if (s) { s.textContent = 'nessuna calibrazione: premi Allinea'; s.style.color = 'var(--dim)'; }
+  }
+  // fallback URDF normale
+  const parent = getCloudParent('nuwa');
+  if (parent && pts.parent !== parent) parent.add(pts);
+  pts.matrixAutoUpdate = true;
+  applyCloudTransform('nuwa');
+}
+
 function readCloudFlip(camKey) {
   const tag = camKey === 'nuwa' ? 'Nuwa' : 'D435';
   return [