Adriano Dal PastroandClaude Opus 4.7
f75b9626be
The 3D viewer was only seeing points inside the ROI rectangle used for the plane fit. Now /fit also fetches nuwa.pointcloud (step=4, full frame), flips to CV frame, and returns it as points_camera (downsampled to max_preview_points). The user sees the entire scene with red = excluded by the below-plane filter, cyan = kept. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
134 lines
4.0 KiB
Python
134 lines
4.0 KiB
Python
"""Work-plane calibration endpoints: fit (preview), save, get, delete."""
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from __future__ import annotations
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import logging
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import time
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from dataclasses import asdict
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from typing import Any
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import numpy as np
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from fastapi import APIRouter, HTTPException
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from pydantic import BaseModel, Field
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from ..perception import filter_outliers, nuwa_to_cv_frame
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log = logging.getLogger(__name__)
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from ..perception.work_plane import (
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WorkPlane,
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WorkPlaneError,
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fit_plane_svd,
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get_work_plane,
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set_work_plane,
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)
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from ..timing import Stopwatch
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from . import _deps
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router = APIRouter()
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class FitReq(BaseModel):
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u_min: int = Field(..., ge=0)
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v_min: int = Field(..., ge=0)
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u_max: int = Field(..., gt=0)
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v_max: int = Field(..., gt=0)
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offset_mm: float = Field(5.0, ge=0.0, le=200.0)
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max_preview_points: int = Field(5000, ge=100, le=20000)
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class SaveReq(BaseModel):
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plane: dict[str, Any] # accept a serialised WorkPlane
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@router.post("/fit")
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def fit(req: FitReq) -> dict[str, Any]:
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"""Compute a candidate work plane from a rectangle on the RGB image.
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Does NOT persist. Returns the plane + a downsampled CV-frame cloud for
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the GUI 3D preview.
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"""
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sw = Stopwatch()
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nuwa = _deps.nuwa()
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try:
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with sw.step("pointcloud_roi"):
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pc, _meta = nuwa.pointcloud_roi(
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req.u_min, req.v_min, req.u_max, req.v_max,
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step=1, max_depth_mm=4000,
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)
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except Exception as e:
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raise HTTPException(status_code=502, detail=f"Nuwa pointcloud_roi failed: {e}")
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if len(pc) < 10:
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raise HTTPException(
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status_code=422,
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detail=f"too few depth points in ROI: {len(pc)}",
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)
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pts_cv = nuwa_to_cv_frame(pc[:, :3])
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with sw.step("filter_outliers"):
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pts_cv = filter_outliers(pts_cv, n_std=2.0)
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if len(pts_cv) < 10:
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raise HTTPException(
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status_code=422,
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detail=f"too few inliers after outlier filter: {len(pts_cv)}",
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)
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try:
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with sw.step("fit_plane_svd"):
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normal, offset, centroid, rms_mm = fit_plane_svd(pts_cv)
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except WorkPlaneError as e:
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raise HTTPException(status_code=422, detail=str(e))
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wp = WorkPlane(
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normal=[float(x) for x in normal],
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offset=float(offset),
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centroid=[float(x) for x in centroid],
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n_inliers=int(len(pts_cv)),
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fit_rms_mm=float(rms_mm),
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roi=[int(req.u_min), int(req.v_min), int(req.u_max), int(req.v_max)],
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offset_mm=float(req.offset_mm),
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created_at=time.time(),
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)
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# Fetch the FULL-frame point cloud so the user can see the whole scene in
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# 3D (not just the ROI), with each point colored by signed distance to
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# the fitted plane.
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try:
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with sw.step("pointcloud_full"):
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pc_full, _ = nuwa.pointcloud_with_meta(step=4, max_depth_mm=4000)
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except Exception as e:
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log.warning("Nuwa full pointcloud failed: %s — falling back to ROI cloud", e)
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pc_full = pc
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scene_cv = nuwa_to_cv_frame(pc_full[:, :3]) if len(pc_full) else np.empty((0, 3))
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if len(scene_cv) > req.max_preview_points:
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idx = np.random.choice(len(scene_cv), req.max_preview_points, replace=False)
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scene_cv = scene_cv[idx]
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return {
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"plane": asdict(wp),
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"preview": True,
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"points_camera": scene_cv.tolist(),
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"timings_ms": sw.as_dict(),
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}
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@router.post("/save")
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def save(req: SaveReq) -> dict[str, Any]:
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"""Persist a previously-fitted work plane to disk."""
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try:
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d = dict(req.plane)
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d.setdefault("offset_mm", 5.0)
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wp = WorkPlane(**d)
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except Exception as e:
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raise HTTPException(status_code=422, detail=f"invalid plane payload: {e}")
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set_work_plane(wp)
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return {"ok": True, "plane": asdict(wp), "saved": True}
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@router.get("")
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def get_current() -> dict[str, Any]:
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wp = get_work_plane()
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return {"plane": asdict(wp) if wp is not None else None}
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@router.delete("")
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def delete_current() -> dict[str, Any]:
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set_work_plane(None)
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return {"ok": True, "plane": None}
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