Adriano/Presa-Mano
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75da9add84e1a11bacefcaee5464b768321e20c3
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4 Commits
Author SHA1 Message Date
Adriano Dal PastroandClaude Opus 4.7 75da9add84 feat(clients): Sam21Client wrapper for /api/segment_pointcloud 
Posts (rgb_png, depth_png, intrinsics, bbox) and returns (N,3) points in
meters in OpenCV RGB-camera frame. Normalises transport vs semantic errors
into Sam21Unavailable / Sam21Error.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 14:30:16 +02:00
Adriano Dal PastroandClaude Opus 4.7 810a6102fb test(depth_align): real z-buffer collision + drop dead var 
The 2× focal-length collision test wasn't actually colliding (adjacent IR
pixels rounded to different RGB columns). 4× makes them collapse, so the
np.minimum.at reduce is now exercised. Also drop unused H_ir, W_ir.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 14:28:15 +02:00
Adriano Dal PastroandClaude Opus 4.7 5354c51d60 feat(perception): vectorised IR→RGB depth alignment 
Forward-project IR depth pixels into the RGB pixel grid with a z-buffer.
Output uint16 mm at RGB resolution, ready to feed SAM21.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 14:23:11 +02:00
Adriano Dal PastroandClaude Opus 4.7 f898d9b0da test: add pytest dev dep + tests scaffold 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-05-11 14:19:12 +02:00