Mine are ripening now. I pick them when they are slightly soft, dark-orange to red and becoming shiny/translucent, and eat immediately. They are still okay when they are red-red and very translucent, but not as good. The one in your top picture looks perfect for eating now
If you pick them at hard orange stage they should still ripen on the counter indoors and taste the same.
Check every day, or every other day, once the first one is orange