points_via_sam21, _points_via_bbox, and _object_cloud_cv (bbox branch)
now call apply_below_plane_filter on the CV-frame cloud before the
<10-points guard. Responses carry plane_applied + n_points_before_plane.
Without a saved plane the filter is a no-op (plane_applied=false).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Extract the SAM21 wiring out of grasp_routes.py into a shared module
perception/sam21_bridge.py (Sam21Fallback + points_via_sam21). Both
/api/perception/scan and /api/perception/object_points now try SAM21
first and fall back to the bbox ROI path on any Sam21Fallback. Response
now carries 'source' (sam21 | bbox_roi) and optional 'sam21_fallback_reason'.
Side-effect: 'points_camera' on both endpoints is now in OpenCV
RGB-camera frame (same as 'points_base' minus the T_base_camera
transform), regardless of which path produced the cloud. Previously the
bbox path stored points in Nuwa-native frame here. The web GUI plots
points_base when available, so the scatter views automatically pick up
the SAM21-segmented cloud.
Verified live: /scan → source=sam21 n=2414 sam21=111ms;
/object_points → source=sam21 n=2347 sam21=118ms;
/grasp/plan regression → source=sam21 n=2390 sam21=119ms;
/scan with SAM21 down → source=bbox_roi fallback='unreachable: ...'
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
