feat(cosma-nav-tools): v1 parser + Leaflet viewer USV La Ciotat 2026-04-08
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Poulpe
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.gitignore
vendored
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data/
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output/
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__pycache__/
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*.pyc
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README.md
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README.md
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# cosma-nav-tools
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Visualisation trajectoire USV — mission La Ciotat, 8 avril 2026.
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## Usage
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python3 tools/parse_usv_nav.py --input data/<file>.csv --output output/
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cd viewer && python3 -m http.server 8765
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Viewer: http://localhost:8765
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162
tools/parse_usv_nav.py
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tools/parse_usv_nav.py
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#!/usr/bin/env python3
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"""Parse USV long-format CSV → track.geojson + points.json"""
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import argparse
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import csv
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import json
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import os
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import sys
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from collections import defaultdict
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MAX_SLIDER_POINTS = 5000
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def parse_args():
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p = argparse.ArgumentParser(description="Parse USV nav CSV")
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p.add_argument("--input", required=True, help="CSV navigation log")
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p.add_argument("--output", required=True, help="Output directory")
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return p.parse_args()
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def load_csv(path):
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"""Load long-format CSV into {timestamp: {field: value}}"""
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rows_by_ts = defaultdict(dict)
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with open(path, newline="", encoding="utf-8") as f:
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reader = csv.DictReader(f)
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for row in reader:
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ts = row["timestamp"]
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field = row["data"]
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val = row["value"]
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rows_by_ts[ts][field] = val
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return rows_by_ts
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def get_float(d, *keys):
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for k in keys:
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v = d.get(k)
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if v is not None:
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try:
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return float(v)
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except ValueError:
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pass
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return None
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def build_points(rows_by_ts):
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"""Build sorted list of {t, lat, lon, heading} where lat/lon valid."""
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# We need to track last known lat/lon/heading per timestamp cluster.
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# Strategy: walk timestamps in order, emit a point each time we see a Lat or Lon update.
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# Accumulate state across timestamps.
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timestamps = sorted(rows_by_ts.keys())
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state = {}
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points = []
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for ts in timestamps:
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updates = rows_by_ts[ts]
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state.update(updates)
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# Only emit point if we have both Lat and Lon from this or earlier ts
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lat = get_float(state, "Lat", "RAW_Lat")
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lon = get_float(state, "Lon", "RAW_Lon")
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heading = get_float(state, "Heading", "Yaw")
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if lat is None or lon is None:
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continue
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if lat == 0.0 and lon == 0.0:
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continue
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# GPS_RAW_INT fallback (1e-7 degrees)
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if abs(lat) < 1 and abs(lon) < 1:
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raw_lat = get_float(state, "GPS_RAW_INT_lat")
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raw_lon = get_float(state, "GPS_RAW_INT_lon")
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if raw_lat and raw_lon:
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lat = raw_lat / 1e7
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lon = raw_lon / 1e7
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else:
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continue
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# Only emit if Lat or Lon just updated (reduce duplicate consecutive points)
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if "Lat" in updates or "Lon" in updates or "RAW_Lat" in updates or "RAW_Lon" in updates:
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points.append({
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"t": ts,
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"lat": round(lat, 8),
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"lon": round(lon, 8),
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"heading": round(heading, 2) if heading is not None else None,
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})
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return points
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def sample_points(points, max_n):
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if len(points) <= max_n:
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return points
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step = len(points) / max_n
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return [points[int(i * step)] for i in range(max_n)]
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def write_geojson(points, path):
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coords = [[p["lon"], p["lat"]] for p in points]
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geojson = {
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"type": "FeatureCollection",
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"features": [{
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"type": "Feature",
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"geometry": {"type": "LineString", "coordinates": coords},
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"properties": {
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"start": points[0]["t"] if points else None,
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"end": points[-1]["t"] if points else None,
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"n_points": len(points),
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}
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}]
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}
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with open(path, "w") as f:
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json.dump(geojson, f)
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print(f" track.geojson: {len(coords)} coords → {path}")
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def write_points_json(points, path):
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with open(path, "w") as f:
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json.dump(points, f)
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print(f" points.json: {len(points)} points → {path}")
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def print_stats(points):
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if not points:
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print("No valid points found!")
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return
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lats = [p["lat"] for p in points]
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lons = [p["lon"] for p in points]
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print(f"\n=== Stats ===")
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print(f" N points (full): {len(points)}")
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print(f" First ts: {points[0]['t']}")
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print(f" Last ts: {points[-1]['t']}")
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print(f" Bbox lat: {min(lats):.6f} → {max(lats):.6f}")
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print(f" Bbox lon: {min(lons):.6f} → {max(lons):.6f}")
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headings = [p["heading"] for p in points if p["heading"] is not None]
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print(f" Heading data: {'yes' if headings else 'no'} ({len(headings)} values)")
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def main():
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args = parse_args()
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os.makedirs(args.output, exist_ok=True)
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print(f"Loading {args.input} ...")
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rows = load_csv(args.input)
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print(f" {len(rows)} unique timestamps")
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points = build_points(rows)
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print_stats(points)
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if not points:
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sys.exit(1)
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write_geojson(points, os.path.join(args.output, "track.geojson"))
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sampled = sample_points(points, MAX_SLIDER_POINTS)
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if len(sampled) < len(points):
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print(f" Sampled {len(sampled)} points for slider (from {len(points)})")
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write_points_json(sampled, os.path.join(args.output, "points.json"))
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print("\nDone.")
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if __name__ == "__main__":
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main()
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142
viewer/index.html
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viewer/index.html
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<!DOCTYPE html>
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<html lang="fr">
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<head>
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<meta charset="utf-8">
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<title>COSMA — USV Track Viewer</title>
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<meta name="viewport" content="width=device-width,initial-scale=1">
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<link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css"/>
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<style>
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* { box-sizing: border-box; margin: 0; padding: 0; }
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body { font-family: monospace; background: #1a1a2e; color: #e0e0e0; display: flex; flex-direction: column; height: 100vh; }
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#map { flex: 1; }
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#controls {
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background: #16213e;
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padding: 8px 12px;
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display: flex;
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align-items: center;
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gap: 12px;
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border-top: 1px solid #0f3460;
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}
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#slider { flex: 1; cursor: pointer; }
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#info { font-size: 11px; min-width: 340px; color: #a0c4ff; white-space: nowrap; overflow: hidden; text-overflow: ellipsis; }
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#title { font-size: 13px; font-weight: bold; color: #e94560; white-space: nowrap; }
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</style>
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</head>
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<body>
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<div id="map"></div>
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<div id="controls">
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<span id="title">USV Track</span>
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<input type="range" id="slider" min="0" value="0">
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<div id="info">Chargement…</div>
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</div>
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<script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
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<script>
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// ── Map init ──────────────────────────────────────────────────────────────
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const map = L.map('map', { zoomControl: true });
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const osm = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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attribution: '© OpenStreetMap contributors',
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maxZoom: 19,
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});
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osm.addTo(map);
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const seamarks = L.tileLayer('https://tiles.openseamap.org/seamark/{z}/{x}/{y}.png', {
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attribution: '© OpenSeaMap',
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maxZoom: 18,
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opacity: 0.8,
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});
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// GEBCO bathymetry (tile-based, simpler than WMS)
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const gebco = L.tileLayer(
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'https://tiles.arcgis.com/tiles/C8EMgrsFcRFL6LrL/arcgis/rest/services/GEBCO_basemap_NCEI/MapServer/tile/{z}/{y}/{x}',
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{
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attribution: 'GEBCO / NCEI',
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maxZoom: 13,
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opacity: 0.6,
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}
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);
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L.control.layers(
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{ 'OpenStreetMap': osm },
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{ 'OpenSeaMap (balises)': seamarks, 'GEBCO (bathymétrie)': gebco },
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{ collapsed: false }
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).addTo(map);
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// ── SVG arrow marker factory ──────────────────────────────────────────────
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function makeArrowIcon(heading) {
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const svg = `<svg xmlns="http://www.w3.org/2000/svg" width="32" height="32" viewBox="-16 -16 32 32">
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<g transform="rotate(${heading || 0})">
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<polygon points="0,-12 6,8 0,4 -6,8" fill="#e94560" stroke="#fff" stroke-width="1.5"/>
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</g>
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</svg>`;
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return L.divIcon({
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html: svg,
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className: '',
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iconSize: [32, 32],
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iconAnchor: [16, 16],
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});
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}
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// ── Data loading ──────────────────────────────────────────────────────────
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let points = [];
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let trackLayer = null;
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let marker = null;
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async function loadData() {
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try {
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const [trackResp, pointsResp] = await Promise.all([
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fetch('track.geojson'),
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fetch('points.json'),
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]);
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if (!trackResp.ok) throw new Error('track.geojson not found');
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if (!pointsResp.ok) throw new Error('points.json not found');
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const trackGeo = await trackResp.json();
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points = await pointsResp.json();
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// Draw track
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trackLayer = L.geoJSON(trackGeo, {
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style: { color: '#00b4d8', weight: 2, opacity: 0.8 },
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}).addTo(map);
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map.fitBounds(trackLayer.getBounds(), { padding: [40, 40] });
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// Init slider
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const slider = document.getElementById('slider');
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slider.max = points.length - 1;
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slider.value = 0;
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slider.addEventListener('input', () => updateMarker(+slider.value));
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// Init marker
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if (points.length > 0) {
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const p = points[0];
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marker = L.marker([p.lat, p.lon], { icon: makeArrowIcon(p.heading || 0) }).addTo(map);
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updateInfo(0);
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}
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document.getElementById('title').textContent = `USV Track — ${points.length} pts`;
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} catch (e) {
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document.getElementById('info').textContent = 'Erreur: ' + e.message;
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}
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}
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function updateMarker(idx) {
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const p = points[idx];
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if (!p || !marker) return;
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marker.setLatLng([p.lat, p.lon]);
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marker.setIcon(makeArrowIcon(p.heading || 0));
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updateInfo(idx);
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}
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function updateInfo(idx) {
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const p = points[idx];
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if (!p) return;
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const hdg = p.heading !== null ? `${p.heading.toFixed(1)}°` : 'N/A';
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document.getElementById('info').textContent =
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`[${idx+1}/${points.length}] ${p.t} | Lat: ${p.lat.toFixed(6)} Lon: ${p.lon.toFixed(6)} | Cap: ${hdg}`;
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}
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loadData();
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</script>
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</body>
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</html>
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