feat: routes /map /nav — Leaflet GPS/USBL + Chart.js depth viewer

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/<int:job_id>/nav")
+def api_job_nav(job_id: int):
+    return jsonify(_load_nav_data(job_id))
+
+
+@app.route("/api/job/<int:job_id>/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()