feat(pose_3d): GET /tags multi-camera, rimuovi /front_tags

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

tests/test_pose_3d_tags.py

@@ -0,0 +1,75 @@
+"""Test del nuovo endpoint multi-camera GET /api/pose_3d/tags."""
+from __future__ import annotations
+
+from unittest.mock import patch, MagicMock
+
+from fastapi.testclient import TestClient
+
+from presa_mano.main import app
+
+client = TestClient(app)
+
+
+def _fake_camera(corner_depth_m=0.32):
+    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):
+        return {"point_m": {"x": u / 1000.0, "y": v / 1000.0, "z": corner_depth_m},
+                "depth_mm": int(corner_depth_m * 1000)}
+    cam.measure.side_effect = _measure
+    return cam
+
+
+def _fake_marker(found_ids):
+    mk = MagicMock()
+    found = [{
+        "id": i,
+        "corners": [[100, 100], [140, 100], [140, 140], [100, 140]],
+    } for i in found_ids]
+    mk.detect_url.return_value = {"found": found, "not_found": []}
+    return mk
+
+
+def test_tags_returns_both_cameras():
+    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 = _fake_camera()
+        front_f.return_value = _fake_camera()
+        mk_f.return_value = _fake_marker([5])
+        r = client.get("/api/pose_3d/tags?ids=0-9")
+        assert r.status_code == 200
+        body = r.json()
+        assert set(body["cameras"].keys()) == {"nuwa", "d435"}
+        assert body["cameras"]["nuwa"]["frame"] == "nuwa_rgb_optical"
+        assert body["cameras"]["d435"]["frame"] == "d435_rgb_optical"
+        assert body["cameras"]["nuwa"]["tags"][0]["id"] == 5
+        assert body["cameras"]["d435"]["tags"][0]["id"] == 5
+
+        tag = body["cameras"]["nuwa"]["tags"][0]
+        assert tag["edge_mm"] is not None
+        assert 35.0 < tag["edge_mm"] < 45.0          # ~40mm lato del quad
+        assert tag["distance_m"] is not None
+        assert abs(tag["distance_m"] - 0.362) < 0.02  # sqrt(.12^2+.12^2+.32^2)
+        assert all(len(c) == 3 for c in tag["corners_3d_optical_m"])
+
+
+def test_tags_one_camera_offline_reports_error():
+    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 = MagicMock()
+        nuwa.intrinsics.side_effect = RuntimeError("nuwa down")
+        nuwa_f.return_value = nuwa
+        front_f.return_value = _fake_camera()
+        mk_f.return_value = _fake_marker([5])
+        r = client.get("/api/pose_3d/tags?ids=0-9")
+        assert r.status_code == 200
+        body = r.json()
+        assert body["cameras"]["nuwa"]["tags"] == []
+        assert "error" in body["cameras"]["nuwa"]
+        assert body["cameras"]["d435"]["tags"][0]["id"] == 5