AdrianoandClaude Opus 4.7
fb0e9b9112
- Sidebar a 3 tab verticali (POSE / CAMERAS / MISC) per ridurre lo scroll
- Tag locator: POST /api/pose_3d/tag_offset/{save,} salva crocetta nel
viewport con snapshot giunti, current.json + archive rotation
- Front-camera tag overlay (MISC):
- GET /api/pose_3d/front_tags scansiona ArUco sul D435i e per ogni tag
misura i 4 corner 3D via depth sensor (indipendente da solvePnP);
outlier rejection ±20% dalla mediana per ignorare corner che catturano
background sul bordo del marker
- Rendering quad cyan + label compatta (id, edge_mm, distanza camera)
agganciato al d435_link, segue la camera anche in modalita' hand-eye
- Trigger via pollState() quando il flag e' on, niente timer separato
- Cloud cross-camera: memorizza step/max_depth/sizes/scale_xy/flip/handeye
in pose_3d.cloud_params al click di Acquisisci, ripopola UI da config
al primo poll (state.cloud_params_populated guard)
- D435i front cloud: applica nuwa_to_cv_frame (il servizio ritorna native,
non OpenCV come si pensava)
- Cache-bust per pose_3d.js e pose_3d.css
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
185 lines
4.3 KiB
CSS
185 lines
4.3 KiB
CSS
#tab-pose-3d .p3-layout {
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display: grid;
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grid-template-columns: 1fr 360px 92px;
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gap: 16px;
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height: calc(100vh - 140px);
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min-height: 600px;
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}
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#tab-pose-3d .p3-tabrail {
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display: flex;
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flex-direction: column;
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gap: 8px;
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align-items: stretch;
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}
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#tab-pose-3d .p3-tab {
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background: #1a1f26;
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border: 1px solid #2a2f36;
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color: #aab;
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padding: 14px 8px;
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border-radius: 6px;
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font-size: 12px;
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font-weight: bold;
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letter-spacing: 1px;
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cursor: pointer;
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writing-mode: horizontal-tb;
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text-align: center;
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}
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#tab-pose-3d .p3-tab:hover { background: #232a33; color: #e0e0e0; }
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#tab-pose-3d .p3-tab.active {
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background: #1f3556;
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border-color: #4da3ff;
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color: #4da3ff;
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}
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#tab-pose-3d .p3-group { display: contents; }
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#tab-pose-3d .p3-group[hidden] { display: none; }
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#tab-pose-3d .p3-viewport {
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position: relative;
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background: #0d1014;
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border: 1px solid #2a2f36;
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border-radius: 6px;
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overflow: hidden;
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}
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#tab-pose-3d .p3-viewport canvas { display: block; width: 100%; height: 100%; }
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#tab-pose-3d .p3-mode-badge {
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position: absolute;
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top: 10px; left: 10px;
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padding: 4px 10px;
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background: rgba(20, 30, 40, 0.85);
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border: 1px solid #4da3ff;
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border-radius: 4px;
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color: #4da3ff;
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font-size: 13px;
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font-weight: bold;
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}
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#tab-pose-3d .p3-mode-badge.jog {
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border-color: #ff5e7e;
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color: #ff5e7e;
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animation: p3-blink 1.4s ease-in-out infinite;
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}
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@keyframes p3-blink { 50% { opacity: 0.5; } }
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#tab-pose-3d .p3-help {
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position: absolute;
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bottom: 8px; left: 10px; right: 10px;
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font-size: 11px;
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color: #888;
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}
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#tab-pose-3d .p3-sidebar {
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display: flex;
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flex-direction: column;
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gap: 12px;
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overflow-y: auto;
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}
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#tab-pose-3d .p3-section {
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background: #1a1f26;
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border: 1px solid #2a2f36;
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border-radius: 6px;
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padding: 10px 12px;
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}
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#tab-pose-3d .p3-section h3 {
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margin: 0 0 8px 0;
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font-size: 13px;
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color: #ccc;
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}
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#tab-pose-3d .p3-row {
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display: flex;
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align-items: center;
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gap: 8px;
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margin-bottom: 6px;
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flex-wrap: wrap;
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}
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#tab-pose-3d .p3-row:last-child { margin-bottom: 0; }
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#tab-pose-3d .p3-row label { font-size: 13px; color: #ddd; }
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#tab-pose-3d .p3-check { display: block; margin-top: 8px; font-size: 13px; color: #ddd; }
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#tab-pose-3d .p3-readout {
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display: grid;
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grid-template-columns: 1fr 1fr 1fr;
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gap: 6px 12px;
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font-family: monospace;
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font-size: 12px;
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color: #ddd;
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margin-bottom: 8px;
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}
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#tab-pose-3d .p3-readout label {
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display: flex;
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align-items: center;
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gap: 4px;
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}
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/* Label colorate come gli assi UCS: X/Y/Z = rosso/verde/blu (riga 1),
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R/P/W = stessa tonalita' desaturata (riga 2, rotazione attorno a X/Y/Z). */
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#tab-pose-3d .p3-readout label:nth-child(1) { color: #e74c3c; }
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#tab-pose-3d .p3-readout label:nth-child(2) { color: #3ecf8e; }
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#tab-pose-3d .p3-readout label:nth-child(3) { color: #4da3ff; }
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#tab-pose-3d .p3-readout label:nth-child(4) { color: #c8857e; }
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#tab-pose-3d .p3-readout label:nth-child(5) { color: #88c2a8; }
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#tab-pose-3d .p3-readout label:nth-child(6) { color: #8aaedf; }
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#tab-pose-3d .p3-readout input {
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width: 60px;
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background: #0d1014;
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border: 1px solid #2a2f36;
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color: #4da3ff;
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padding: 2px 4px;
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border-radius: 3px;
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font-size: 12px;
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font-family: monospace;
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}
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#tab-pose-3d .p3-readout input:focus {
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outline: 1px solid #4da3ff;
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border-color: #4da3ff;
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}
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#tab-pose-3d .p3-status { font-size: 12px; color: #888; margin-bottom: 8px; }
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#tab-pose-3d .p3-status.modified { color: #f0ad4e; }
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#tab-pose-3d .p3-status.ok { color: #3ecf8e; }
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#tab-pose-3d .p3-status.error { color: #e74c3c; }
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#tab-pose-3d .p3-feasibility {
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font-size: 12px;
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margin-bottom: 6px;
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font-family: monospace;
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min-height: 1em;
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}
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#tab-pose-3d .p3-feasibility.ok { color: #3ecf8e; }
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#tab-pose-3d .p3-feasibility.error { color: #e74c3c; }
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#tab-pose-3d button {
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background: #2a3038;
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border: 1px solid #3a4048;
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color: #e0e0e0;
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padding: 5px 10px;
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border-radius: 4px;
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font-size: 12px;
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cursor: pointer;
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}
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#tab-pose-3d button:hover { background: #34404a; }
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#tab-pose-3d button:disabled { opacity: 0.4; cursor: not-allowed; }
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#tab-pose-3d select, #tab-pose-3d input[type=text] {
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background: #0d1014;
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border: 1px solid #2a2f36;
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color: #e0e0e0;
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padding: 4px 6px;
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border-radius: 3px;
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font-size: 12px;
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flex: 1;
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min-width: 0;
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}
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#tab-pose-3d .p3-error {
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background: #3a1014;
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border: 1px solid #e74c3c;
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border-radius: 4px;
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padding: 8px;
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color: #ffcccc;
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font-size: 12px;
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}
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