feat: Three.js trajectory viewer — Flask :5051 + trajectoires + frustums + PLY décimé

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

viz/server.py

@@ -0,0 +1,142 @@
+# viz/server.py
+import sys
+import json
+from pathlib import Path
+import numpy as np
+import h5py
+from flask import Flask, jsonify, send_from_directory
+
+app = Flask(__name__, static_folder="static")
+
+# Configured at startup
+_TRAJ_H5  = "data/trajectory_world.h5"
+_FIXES_H5 = "data/sparse_fixes.h5"
+_PLY_PATH = ""
+
+def _load_data() -> dict:
+    out: dict = {}
+
+    # USV GPS track (always try first — most reliable)
+    try:
+        with h5py.File(_FIXES_H5, "r") as f:
+            if "usv_gps" in f:
+                e = f["usv_gps/easting"][:]
+                n = f["usv_gps/northing"][:]
+                t = f["usv_gps/t_ns"][:].tolist()
+                rtk = f["usv_gps/rtk_status"][:].tolist()
+                # Center on centroid for Three.js
+                ce, cn = float(e.mean()), float(n.mean())
+                out["origin"] = {"easting": ce, "northing": cn}
+                out["usv_gps"] = {
+                    "x": (e - ce).tolist(), "y": (n - cn).tolist(),
+                    "z": [0.0] * len(e), "t": t, "rtk": rtk,
+                }
+            else:
+                ce, cn = 0.0, 0.0
+                out["origin"] = {"easting": 0.0, "northing": 0.0}
+
+            if "auv_mcap" in f:
+                dep = f["auv_mcap/depth_m"][:]
+                t_auv = f["auv_mcap/t_ns"][:].tolist()
+                # AUV lat/lon zeros — plot depth over time as Z only
+                n_pts = len(dep)
+                out["auv_depth"] = {
+                    "x": list(range(n_pts)),  # index as proxy for time
+                    "y": [0.0] * n_pts,
+                    "z": (-dep).tolist(),      # positive = deeper
+                    "t": t_auv,
+                }
+
+            if "usbl_fixes" in f:
+                north = f["usbl_fixes/north_m"][:]
+                east  = f["usbl_fixes/east_m"][:]
+                depth = f["usbl_fixes/depth_m"][:]
+                valid = ~(np.isnan(north) | (north == 0) & (east == 0))
+                if valid.any():
+                    out["usbl"] = {
+                        "x": east[valid].tolist(),
+                        "y": north[valid].tolist(),
+                        "z": (-depth[valid]).tolist(),
+                    }
+    except Exception as e:
+        out["error_fixes"] = str(e)
+
+    # Fused trajectory (lingbot-aligned)
+    try:
+        with h5py.File(_TRAJ_H5, "r") as f:
+            status = f.attrs.get("status", "unknown")
+            out["traj_status"] = status
+            if status == "aligned" and "poses_world" in f:
+                pw = f["poses_world"]
+                ce = out.get("origin", {}).get("easting", 0.0)
+                cn = out.get("origin", {}).get("northing", 0.0)
+                out["fused"] = {
+                    "x": (pw["x_m"][:] - ce).tolist(),
+                    "y": (pw["y_m"][:] - cn).tolist(),
+                    "z": pw["z_m"][:].tolist(),
+                    "t": pw["t_ns"][:].tolist(),
+                    "T_4x4": pw["T_4x4"][:].tolist(),
+                }
+            elif "poses_world" in f:
+                # local only
+                pw = f["poses_world"]
+                out["lingbot_local"] = {
+                    "x": pw["x_m"][:].tolist(),
+                    "y": pw["y_m"][:].tolist(),
+                    "z": pw["z_m"][:].tolist(),
+                    "t": pw["t_ns"][:].tolist(),
+                    "T_4x4": pw["T_4x4"][:].tolist() if "T_4x4" in pw else [],
+                }
+    except Exception as e:
+        out["error_traj"] = str(e)
+
+    # Decimated PLY
+    if _PLY_PATH and Path(_PLY_PATH).exists():
+        try:
+            import open3d as o3d
+            pcd = o3d.io.read_point_cloud(_PLY_PATH)
+            n_pts = len(pcd.points)
+            if n_pts > 200_000:
+                vox = float((pcd.get_max_bound() - pcd.get_min_bound()).max()) * (200_000 / n_pts) ** (1/3)
+                pcd = pcd.voxel_down_sample(float(vox))
+            pts = np.asarray(pcd.points)
+            ce = out.get("origin", {}).get("easting", 0.0)
+            cn = out.get("origin", {}).get("northing", 0.0)
+            out["ply"] = {
+                "x": (pts[:,0] - ce).tolist(),
+                "y": (pts[:,1] - cn).tolist(),
+                "z": pts[:,2].tolist(),
+            }
+        except Exception as e:
+            out["error_ply"] = str(e)
+
+    return out
+
+@app.route("/api/trajectory")
+def api_trajectory():
+    return jsonify(_load_data())
+
+@app.route("/trajectory")
+def viewer():
+    return send_from_directory("static", "trajectory.html")
+
+@app.route("/")
+def root():
+    return '<meta http-equiv="refresh" content="0;url=/trajectory">'
+
+def _main():
+    global _TRAJ_H5, _FIXES_H5, _PLY_PATH
+    import argparse
+    p = argparse.ArgumentParser()
+    p.add_argument("--trajectory", default="data/trajectory_world.h5")
+    p.add_argument("--fixes",      default="data/sparse_fixes.h5")
+    p.add_argument("--ply",        default="")
+    p.add_argument("--port",       type=int, default=5051)
+    args = p.parse_args()
+    _TRAJ_H5  = args.trajectory
+    _FIXES_H5 = args.fixes
+    _PLY_PATH = args.ply
+    app.run(host="0.0.0.0", port=args.port, debug=False)
+
+if __name__ == "__main__":
+    _main()