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Author SHA1 Message Date
Adriano Dal PastroandClaude Opus 4.7 e2f06d2624 docs: implementation plan for SAM21 segmentation in grasp pipeline 
7 task TDD-first: pytest scaffold, depth_align (vectorised IR→RGB),
Sam21Client (httpx mock unit tests), _deps + config wiring, refactor
estraendo _points_via_bbox, branch SAM21 con fallback, verifica live.
Allinea config key a base_url (consistente con altri servizi).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 12:42:27 +02:00
Adriano Dal PastroandClaude Opus 4.7 adefc93949 docs: design SAM21 segmentation in grasp pipeline 
Spec brainstorming validato: SAM21 si inserisce tra YOLO bbox e PCA con
fallback automatico al path bbox legacy. Tre componenti nuovi
(clients/sam21.py, perception/depth_align.py, helper _points_via_sam21)
e due modifiche minori (config.yaml, api/_deps.py). Out-of-scope: scan/
object_points, mask UI, nuwa_to_cv_frame cleanup.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 12:30:08 +02:00