feat(pose_3d): overlay tag su entrambe le camere (Nuwa rosso, D435i ciano)

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

web/pose_3d.js

@@ -227,8 +227,9 @@ const state = {
     position_m: null,      //   [x,y,z] in pelvis frame della crocetta corrente
     joints_at_place: null, //   snapshot giunti al click (può essere null se G1 offline)
   },
-  front_tags: {            // overlay tag visibili dalla camera D435i frontale
+  tags: {                  // overlay tag per camera (gruppi THREE child del cloud node)
-    group: null,           //   THREE.Group child del d435 parent (cloud-like transform)
+    nuwa: { group: null },
+    d435: { group: null },
   },
 };
 
@@ -1767,7 +1768,7 @@ async function acquireClouds() {
     saveCloudParamsToConfig();
     // Nuova immagine acquisita: se l'overlay tag e' attivo ri-esegui la
     // detection una volta sola, sul frame appena acquisito.
-    if ($('p3ShowFrontTags')?.checked) pollFrontTags();
+    if ($('p3ShowFrontTags')?.checked) pollTags();
   } catch (e) {
     $('p3CloudStatus').textContent = `errore: ${e.message}`;
     $('p3CloudStatus').style.color = 'var(--danger)';
@@ -1795,6 +1796,8 @@ function clearClouds() {
 // camera in modalita' URDF link e in modalita' hand-eye.
 
 const FRONT_TAG_COLOR = 0x4dd0e1;
+const NUWA_TAG_COLOR = 0xff3b30;   // rosso: tag visti dalla camera Nuwa (polso)
+const TAG_COLORS = { nuwa: NUWA_TAG_COLOR, d435: FRONT_TAG_COLOR };
 const FRONT_TAG_LABEL_COLOR = '#4dd0e1';
 
 // Label compatta auto-sized: canvas largo quanto il testo, font piccolo,
@@ -1854,8 +1857,8 @@ function applyCloudLikeTransform(obj, camKey) {
   obj.scale.set(sv[0], sv[1], sv[2]);
 }
 
-function clearFrontTagsGroup() {
+function clearTagsGroup(camKey) {
-  const grp = state.front_tags.group;
+  const grp = state.tags[camKey].group;
   if (!grp) return;
   if (grp.parent) grp.parent.remove(grp);
   grp.traverse(o => {
@@ -1865,64 +1868,54 @@ function clearFrontTagsGroup() {
       else o.material.dispose();
     }
   });
-  state.front_tags.group = null;
+  state.tags[camKey].group = null;
 }
 
-function addOneFrontTag(grp, t) {
+function addOneTag(grp, t, color) {
   const c = t.corners_3d_optical_m;
   if (!Array.isArray(c) || c.length !== 4) return;
   if (c.some(p => !p || p.some(v => !Number.isFinite(v)))) return;
-
-  // LineLoop (5 verts = close)
   const v = new Float32Array(5 * 3);
   for (let i = 0; i < 4; i++) { v[3*i]=c[i][0]; v[3*i+1]=c[i][1]; v[3*i+2]=c[i][2]; }
   v[12] = c[0][0]; v[13] = c[0][1]; v[14] = c[0][2];
   const geom = new THREE.BufferGeometry();
   geom.setAttribute('position', new THREE.BufferAttribute(v, 3));
-  const mat = new THREE.LineBasicMaterial({ color: FRONT_TAG_COLOR });
+  grp.add(new THREE.Line(geom, new THREE.LineBasicMaterial({ color })));
-  grp.add(new THREE.Line(geom, mat));
-
-  // Label "id=X · NNmm · d=DDDmm" leggermente offset dal centro
   const edge_s = Number.isFinite(t.edge_mm) ? `${t.edge_mm.toFixed(1)}mm` : '?';
   const dist_s = Number.isFinite(t.distance_m) ? `${(t.distance_m * 1000).toFixed(0)}mm` : '?';
   const sprite = makeCompactLabel(`id=${t.id} · ${edge_s} · d=${dist_s}`);
   const ctr = t.center_3d_optical_m;
-  if (ctr && ctr.every(Number.isFinite)) {
+  if (ctr && ctr.every(Number.isFinite)) sprite.position.set(ctr[0], ctr[1] - 0.04, ctr[2]);
-    // offset in -Y ottico = sopra (Y down nella convenzione OpenCV)
-    sprite.position.set(ctr[0], ctr[1] - 0.04, ctr[2]);
-  }
   grp.add(sprite);
 }
 
-function renderFrontTags(tags) {
+function renderTags(camKey, tags, color) {
-  clearFrontTagsGroup();
+  clearTagsGroup(camKey);
   if (!tags || tags.length === 0) return;
-  const parent = getCloudParent('d435');
+  const parent = getCloudParent(camKey);
-  if (!parent) {
+  if (!parent) { console.warn(`[pose_3d] tags: parent ${camKey} non disponibile`); return; }
-    console.warn('[pose_3d] front_tags: parent d435 non disponibile');
-    return;
-  }
   const grp = new THREE.Group();
-  grp.name = 'front_tags_group';
+  grp.name = `${camKey}_tags_group`;
-  applyCloudLikeTransform(grp, 'd435');
+  applyCloudLikeTransform(grp, camKey);
   parent.add(grp);
-  state.front_tags.group = grp;
+  state.tags[camKey].group = grp;
-  for (const t of tags) addOneFrontTag(grp, t);
+  for (const t of tags) addOneTag(grp, t, color);
 }
 
-async function pollFrontTags() {
+async function pollTags() {
   const ids = ($('p3FrontTagIds')?.value || '0-49').trim();
   const status = $('p3FrontTagStatus');
   try {
-    const r = await jsonFetch(`/api/pose_3d/front_tags?ids=${encodeURIComponent(ids)}`);
+    const r = await jsonFetch(`/api/pose_3d/tags?ids=${encodeURIComponent(ids)}`);
-    const tags = r.tags || [];
+    const cams = r.cameras || {};
-    renderFrontTags(tags);
+    const parts = [];
-    if (status) {
+    for (const camKey of ['nuwa', 'd435']) {
-      const ms = r.timings_ms?.total;
+      const c = cams[camKey] || {};
-      status.textContent = tags.length
+      renderTags(camKey, c.tags || [], TAG_COLORS[camKey]);
-        ? `${tags.length} tag · ids: ${tags.map(t => t.id).join(',')}${ms != null ? ' · ' + ms.toFixed(0) + 'ms' : ''}`
+      if (c.error) parts.push(`${camKey}: err`);
-        : 'nessun tag visibile';
+      else parts.push(`${camKey}: ${(c.tags || []).length}`);
     }
+    if (status) status.textContent = parts.join(' · ');
   } catch (e) {
     if (status) status.textContent = `errore: ${e?.message || e}`;
   }
@@ -1933,10 +1926,10 @@ function bindFrontTagFinder() {
   if (!cb) return;
   cb.addEventListener('change', () => {
     if (cb.checked) {
-      // Refresh immediato senza aspettare il prossimo tick di pollState
+      pollTags();
-      pollFrontTags();
     } else {
-      clearFrontTagsGroup();
+      clearTagsGroup('nuwa');
+      clearTagsGroup('d435');
       const s = $('p3FrontTagStatus');
       if (s) s.textContent = '—';
     }