The 0.4x0.4 PlaneGeometry square was a fixed-size proxy that did not
reflect the actual ROI extent — visually misleading. Replace it with
an explicit blue point cloud of the inliers fed to fit_plane_svd, so
the user can see *exactly* which depth pixels the plane was fit on.
- Backend: fit response now returns fit_points_camera (CV frame) instead
of the (parallax-shifted) RGB pixel projection.
- Frontend: drop the purple plane mesh; new three.setFitInliers paints
the inliers in blue. The RGB overlay no longer carries blue dots.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The fit endpoint now returns fit_points_px (the post-outlier-filter
inliers projected to RGB pixels via Nuwa's RGB intrinsics). The GUI
draws them on the same overlay as the ROI rectangle so the user can
visually verify which depth pixels were fed to fit_plane_svd.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Drop the ge=0 constraint on FitReq.offset_mm (negative values are a
documented usage: aggressive noise cull above the plane).
- HTML input min lowered to -200 to match.
- Render FastAPI 422 validation arrays as a human-readable string in the
status chip (was showing "[object Object]").
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Setting canvas.width/height clears its bitmap; the live RGB tick was
firing the img.load handler every second, wiping the ROI rectangle and
breaking the two-click flow (third click was interpreted as restart).
- Only mutate canvas size when image resolution actually changes.
- Re-paint the overlay after each load so the ROI persists.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- Camera at origin (CV frame) looking at +Z with screen-up = CV −Y, so
the rendered scene matches the camera's vantage point. OrbitControls
retargets to the plane centroid on fit so rotation feels natural.
- Simplify scatter coloring to two tones: red for filter-excluded points
(signed_distance < −offset_mm/1000), cyan-white for everything kept.
Matches the backend filter contract exactly.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
User asked for "2 punti" — replace the drag-to-rectangle interaction with
two discrete clicks: first click places corner A (cross marker), second
click defines the rectangle, third click starts a new selection.
Rectangles smaller than 10×10 px are rejected. Status chip guides the
flow.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Direct fetch to http://localhost:8877/api/rgb fails from the browser due
to CORS (page is served from :8890). Switch to /api/calibration/rgb.jpg
which presa-mano already proxies same-origin.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
New tab replaces the removed Servo Visuale. Shift+drag on the RGB image
defines a rectangle, 'Calcola piano' calls POST /api/work_plane/fit and
renders the plane + a colored scatter in 3D. Adjusting the offset slider
re-colors the scatter client-side. 'Salva piano' persists; 'Rimuovi piano
salvato' clears.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
