diff --git a/viz/server.py b/viz/server.py index faa292a..aae69af 100644 --- a/viz/server.py +++ b/viz/server.py @@ -162,5 +162,76 @@ def _main(): _PLY_PATH = args.ply app.run(host="0.0.0.0", port=args.port, debug=False) +# ── COSMA QC Platform additions ────────────────────────── +import os +from pathlib import Path + +_DATA_DIR = Path(os.environ.get("COSMA_DATA_DIR", "/data/cosma")) + + +def _load_nav_data(job_id: int) -> dict: + out = {"job_id": job_id} + poses_path = _DATA_DIR / f"job_{job_id}_poses.npz" + ply_path = _DATA_DIR / f"job_{job_id}_decimated.ply" + if poses_path.exists(): + d = np.load(str(poses_path)) + poses = d["poses"] # (N, 3, 4) + xyz = poses[:, :3, 3] + out["track"] = { + "x": xyz[:, 0].tolist(), + "y": xyz[:, 1].tolist(), + "z": xyz[:, 2].tolist(), + } + out["n_poses"] = int(len(poses)) + out["ply_ready"] = ply_path.exists() + out["ply_path"] = str(ply_path) if ply_path.exists() else None + return out + + +@app.route("/map") +def map_view(): + from flask import render_template + return render_template("map.html") + + +@app.route("/nav") +def nav_view(): + from flask import render_template + return render_template("nav.html") + + +@app.route("/api/jobs") +def api_jobs(): + jobs = [] + for p in sorted(_DATA_DIR.glob("job_*_decimated.ply")): + parts = p.stem.split("_") + jid = int(parts[1]) + jobs.append({ + "id": jid, + "ply": str(p), + "poses": str(_DATA_DIR / f"job_{jid}_poses.npz"), + }) + return jsonify(jobs) + + +@app.route("/api/job//nav") +def api_job_nav(job_id: int): + return jsonify(_load_nav_data(job_id)) + + +@app.route("/api/job//ply") +def api_job_ply(job_id: int): + ply_path = _DATA_DIR / f"job_{job_id}_decimated.ply" + if not ply_path.exists(): + return jsonify({"error": "PLY non disponible"}), 404 + try: + import open3d as o3d + pcd = o3d.io.read_point_cloud(str(ply_path)) + pts = np.asarray(pcd.points) + return jsonify({"x": pts[:, 0].tolist(), "y": pts[:, 1].tolist(), + "z": pts[:, 2].tolist(), "n": int(len(pts))}) + except ImportError: + return jsonify({"error": "open3d not installed"}), 503 + if __name__ == "__main__": _main() diff --git a/viz/static/js/map.js b/viz/static/js/map.js new file mode 100644 index 0000000..d7b113c --- /dev/null +++ b/viz/static/js/map.js @@ -0,0 +1,50 @@ +const map = L.map('map').setView([43.17, 5.70], 13); +L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', { + attribution: '© OSM contributors', maxZoom: 19 +}).addTo(map); + +const status = document.getElementById('status'); +let trackLayer = null; + +async function loadJobs() { + const res = await fetch('/nav/api/jobs'); + const jobs = await res.json(); + const sel = document.getElementById('job-select'); + jobs.forEach(j => { + const opt = document.createElement('option'); + opt.value = j.id; + opt.textContent = 'job_' + j.id; + sel.appendChild(opt); + }); + const urlJob = new URLSearchParams(window.location.search).get('job'); + const target = urlJob ? parseInt(urlJob) : (jobs.length > 0 ? jobs[0].id : null); + if (target) { + sel.value = target; + loadJob(target); + } else { + status.textContent = 'Aucun job disponible'; + } +} + +async function loadJob(jobId) { + status.textContent = 'Chargement job_' + jobId + '...'; + const res = await fetch('/nav/api/job/' + jobId + '/nav'); + const d = await res.json(); + if (trackLayer) map.removeLayer(trackLayer); + if (!d.track || !d.track.x.length) { + status.textContent = 'Pas de données track pour job_' + jobId; + return; + } + const cx = d.track.x.reduce((a,b)=>a+b,0)/d.track.x.length; + const cy = d.track.y.reduce((a,b)=>a+b,0)/d.track.y.length; + const pts = d.track.x.map((x,i) => [43.17 + (d.track.y[i]-cy)*0.000009, 5.70 + (x-cx)*0.000009]); + trackLayer = L.polyline(pts, { color: '#4ade80', weight: 2 }).addTo(map); + map.fitBounds(trackLayer.getBounds()); + status.textContent = 'job_' + jobId + ' — ' + d.n_poses + ' poses | PLY: ' + (d.ply_ready ? 'prêt' : 'non dispo'); +} + +document.getElementById('job-select').addEventListener('change', e => { + if (e.target.value) loadJob(parseInt(e.target.value)); +}); + +loadJobs(); diff --git a/viz/static/js/nav_charts.js b/viz/static/js/nav_charts.js new file mode 100644 index 0000000..9e9a837 --- /dev/null +++ b/viz/static/js/nav_charts.js @@ -0,0 +1,60 @@ +let chartXY = null, chartZ = null; + +function initCharts() { + const base = { + responsive: true, maintainAspectRatio: false, + plugins: { legend: { labels: { color: '#888' } }, title: { display: true, color: '#ccc' } }, + scales: { + x: { ticks: { color: '#666' }, grid: { color: '#1a2a1a' } }, + y: { ticks: { color: '#666' }, grid: { color: '#1a2a1a' } } + } + }; + chartXY = new Chart(document.getElementById('chart-xy'), { + type: 'scatter', + data: { datasets: [{ label: 'Track XY (m)', data: [], borderColor: '#4ade80', + backgroundColor: 'rgba(74,222,128,0.3)', pointRadius: 1 }] }, + options: { ...base, plugins: { ...base.plugins, + title: { display: true, text: 'Track XY lingbot (m, local)', color: '#ccc' } } } + }); + chartZ = new Chart(document.getElementById('chart-z'), { + type: 'line', + data: { datasets: [{ label: 'Z camera (m)', data: [], borderColor: '#60a5fa', + backgroundColor: 'transparent', pointRadius: 0, borderWidth: 1.5 }] }, + options: { ...base, + plugins: { ...base.plugins, + title: { display: true, text: 'Z camera / profondeur approx (m)', color: '#ccc' } }, + scales: { ...base.scales, y: { ...base.scales.y, reverse: true } } } + }); +} + +async function loadJobs() { + const res = await fetch('/nav/api/jobs'); + const jobs = await res.json(); + const sel = document.getElementById('job-select'); + jobs.forEach(j => { + const opt = document.createElement('option'); + opt.value = j.id; + opt.textContent = 'job_' + j.id; + sel.appendChild(opt); + }); + const urlJob = new URLSearchParams(window.location.search).get('job'); + const target = urlJob ? parseInt(urlJob) : (jobs.length > 0 ? jobs[0].id : null); + if (target) { sel.value = target; loadJob(target); } +} + +async function loadJob(jobId) { + const res = await fetch('/nav/api/job/' + jobId + '/nav'); + const d = await res.json(); + if (!d.track) return; + chartXY.data.datasets[0].data = d.track.x.map((x,i) => ({ x, y: d.track.y[i] })); + chartXY.update(); + chartZ.data.datasets[0].data = d.track.z.map((z,i) => ({ x: i, y: z })); + chartZ.update(); +} + +document.getElementById('job-select').addEventListener('change', e => { + if (e.target.value) loadJob(parseInt(e.target.value)); +}); + +initCharts(); +loadJobs(); diff --git a/viz/templates/map.html b/viz/templates/map.html new file mode 100644 index 0000000..98ab41a --- /dev/null +++ b/viz/templates/map.html @@ -0,0 +1,36 @@ + + + + + COSMA NAV — Carte + + + + + + +
+

COSMA NAV — Carte GPS

+ + 3D ↗ + Graphes ↗ +
+
+
Chargement...
+ + + diff --git a/viz/templates/nav.html b/viz/templates/nav.html new file mode 100644 index 0000000..4e6d325 --- /dev/null +++ b/viz/templates/nav.html @@ -0,0 +1,36 @@ + + + + + COSMA NAV — Données nav + + + + + +
+

COSMA NAV — Navigation

+ + Carte ↗ + 3D ↗ +
+
+
+
+
+ + +