Brainstorming → approved spec for the GUI/backend redesign of tab "Cerca
modello": YOLO+SAM21 cluster feeds Open3DModel /api/pose, presa-mano
samples the recipe STL, projects onto a snapshot RGB with togglable
overlays for accepted/excluded points and the fitted model points.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Repurpose the "Servo Visuale" tab into "Calibrazione Piano". Reuses the
existing WorkPlane + fit_plane_svd infrastructure (moved out of
grasp/visual_servo.py into perception/work_plane.py), extends WorkPlane
with offset_mm, splits fit (preview) from save (commit), and applies a
below-plane + offset filter to every object cloud (sam21_bridge,
_points_via_bbox, _object_cloud_cv bbox branch). Visual-servo feature
removed entirely; the only survivors are the plane bits.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
