feat: Three.js trajectory viewer — Flask :5051 + trajectoires + frustums + PLY décimé
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Floppyrj45
170
viz/static/js/scene.js
Normal file
170
viz/static/js/scene.js
Normal file
@@ -0,0 +1,170 @@
|
||||
import * as THREE from 'three';
|
||||
import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
|
||||
|
||||
// ── Renderer ──────────────────────────────────────────────────────────────────
|
||||
const renderer = new THREE.WebGLRenderer({ antialias: true });
|
||||
renderer.setPixelRatio(Math.min(devicePixelRatio, 2));
|
||||
renderer.setSize(innerWidth, innerHeight);
|
||||
document.body.appendChild(renderer.domElement);
|
||||
|
||||
// ── Scene ─────────────────────────────────────────────────────────────────────
|
||||
const scene = new THREE.Scene();
|
||||
scene.background = new THREE.Color(0x06060f);
|
||||
scene.fog = new THREE.Fog(0x06060f, 500, 2000);
|
||||
scene.add(new THREE.GridHelper(1000, 100, 0x111133, 0x0a0a22));
|
||||
scene.add(new THREE.AxesHelper(5));
|
||||
|
||||
// ── Camera + Controls ─────────────────────────────────────────────────────────
|
||||
const camera = new THREE.PerspectiveCamera(60, innerWidth / innerHeight, 0.1, 5000);
|
||||
camera.position.set(0, 150, 250);
|
||||
const controls = new OrbitControls(camera, renderer.domElement);
|
||||
controls.enableDamping = true;
|
||||
controls.dampingFactor = 0.08;
|
||||
controls.minDistance = 1;
|
||||
controls.maxDistance = 3000;
|
||||
|
||||
// ── Layer registry ────────────────────────────────────────────────────────────
|
||||
const layers = {};
|
||||
|
||||
function addLayer(name, obj) {
|
||||
layers[name] = layers[name] || [];
|
||||
layers[name].push(obj);
|
||||
scene.add(obj);
|
||||
}
|
||||
|
||||
// ── Geometry helpers ──────────────────────────────────────────────────────────
|
||||
function makeLine(xArr, yArr, zArr, color) {
|
||||
const pts = xArr.map((x, i) => new THREE.Vector3(x, zArr[i], -yArr[i]));
|
||||
const geo = new THREE.BufferGeometry().setFromPoints(pts);
|
||||
return new THREE.Line(geo, new THREE.LineBasicMaterial({ color }));
|
||||
}
|
||||
|
||||
function makePoints(xArr, yArr, zArr, colorFn) {
|
||||
const pos = new Float32Array(xArr.length * 3);
|
||||
const col = new Float32Array(xArr.length * 3);
|
||||
for (let i = 0; i < xArr.length; i++) {
|
||||
pos[i*3] = xArr[i];
|
||||
pos[i*3+1] = zArr[i];
|
||||
pos[i*3+2] = -yArr[i];
|
||||
const [r,g,b] = colorFn(i);
|
||||
col[i*3]=r; col[i*3+1]=g; col[i*3+2]=b;
|
||||
}
|
||||
const geo = new THREE.BufferGeometry();
|
||||
geo.setAttribute('position', new THREE.BufferAttribute(pos, 3));
|
||||
geo.setAttribute('color', new THREE.BufferAttribute(col, 3));
|
||||
return new THREE.Points(geo, new THREE.PointsMaterial({ size: 4, vertexColors: true, sizeAttenuation: true }));
|
||||
}
|
||||
|
||||
function makeFrustum(T_flat) {
|
||||
// Wireframe camera pyramid: apex at origin, 1m×0.75m rect at z=1.5m
|
||||
const verts = new Float32Array([
|
||||
0,0,0, 0.5,0.375,1.5, 0.5,0.375,1.5, -0.5,0.375,1.5,
|
||||
-0.5,0.375,1.5,-0.5,-0.375,1.5, -0.5,-0.375,1.5,0.5,-0.375,1.5,
|
||||
0.5,-0.375,1.5,0,0,0, 0,0,0,0.5,0.375,1.5,
|
||||
]);
|
||||
const geo = new THREE.BufferGeometry();
|
||||
geo.setAttribute('position', new THREE.BufferAttribute(verts, 3));
|
||||
const mesh = new THREE.LineSegments(geo,
|
||||
new THREE.LineBasicMaterial({ color: 0xffd700, transparent: true, opacity: 0.5 }));
|
||||
const m = new THREE.Matrix4();
|
||||
// T_flat is row-major 4x4 from Python (need to transpose for Three.js column-major)
|
||||
m.set(
|
||||
T_flat[0][0],T_flat[0][1],T_flat[0][2],T_flat[0][3],
|
||||
T_flat[1][0],T_flat[1][1],T_flat[1][2],T_flat[1][3],
|
||||
T_flat[2][0],T_flat[2][1],T_flat[2][2],T_flat[2][3],
|
||||
T_flat[3][0],T_flat[3][1],T_flat[3][2],T_flat[3][3],
|
||||
);
|
||||
mesh.applyMatrix4(m);
|
||||
return mesh;
|
||||
}
|
||||
|
||||
// ── RTK color mapping ─────────────────────────────────────────────────────────
|
||||
const RTK_COLORS = [[0.8,0.3,0.1],[0.9,0.7,0.1],[0.1,0.9,0.2]];
|
||||
|
||||
// ── Load data ─────────────────────────────────────────────────────────────────
|
||||
fetch('/api/trajectory')
|
||||
.then(r => r.json())
|
||||
.then(d => {
|
||||
document.getElementById('status').textContent =
|
||||
`traj: ${d.traj_status || 'n/a'}`;
|
||||
|
||||
if (d.usv_gps) {
|
||||
const { x, y, z, rtk } = d.usv_gps;
|
||||
addLayer('usv_gps', makeLine(x, y, z, 0x3a9fff));
|
||||
addLayer('usv_gps', makePoints(x, y, z, i => RTK_COLORS[Math.min(rtk[i], 2)]));
|
||||
}
|
||||
|
||||
if (d.auv_depth) {
|
||||
const { x, y, z } = d.auv_depth;
|
||||
addLayer('auv_depth', makeLine(x, y, z, 0x44ffaa));
|
||||
}
|
||||
|
||||
if (d.usbl) {
|
||||
const { x, y, z } = d.usbl;
|
||||
addLayer('usbl', makePoints(x, y, z, () => [1, 0.42, 0.21]));
|
||||
}
|
||||
|
||||
const trajData = d.fused || d.lingbot_local;
|
||||
const trajLayer = d.fused ? 'fused' : 'lingbot_local';
|
||||
if (trajData) {
|
||||
const { x, y, z, T_4x4 } = trajData;
|
||||
addLayer(trajLayer, makeLine(x, y, z, d.fused ? 0xffffff : 0xffd700));
|
||||
|
||||
if (T_4x4 && T_4x4.length > 0) {
|
||||
const step = Math.max(1, Math.floor(T_4x4.length / 100)); // max 100 frustums
|
||||
for (let i = 0; i < T_4x4.length; i += step) {
|
||||
addLayer('frustums', makeFrustum(T_4x4[i]));
|
||||
}
|
||||
}
|
||||
|
||||
// Center camera
|
||||
if (x.length > 0) {
|
||||
controls.target.set(x[0], z[0], -y[0]);
|
||||
camera.position.set(x[0], z[0] + 50, -y[0] + 100);
|
||||
controls.update();
|
||||
}
|
||||
}
|
||||
|
||||
if (d.ply) {
|
||||
const { x, y, z } = d.ply;
|
||||
addLayer('ply', makePoints(x, y, z, (i) => {
|
||||
const t = Math.min(1, Math.max(0, (-z[i]) / 20));
|
||||
return [0.2+0.3*t, 0.35+0.2*t, 0.5-0.2*t];
|
||||
}));
|
||||
}
|
||||
|
||||
// If only USV GPS, center on that
|
||||
if (!trajData && d.usv_gps) {
|
||||
const { x, y, z } = d.usv_gps;
|
||||
const cx = x.reduce((a,b)=>a+b,0)/x.length;
|
||||
const cy = y.reduce((a,b)=>a+b,0)/y.length;
|
||||
controls.target.set(cx, 0, -cy);
|
||||
camera.position.set(cx, 50, -cy + 80);
|
||||
controls.update();
|
||||
}
|
||||
})
|
||||
.catch(err => {
|
||||
document.getElementById('status').textContent = `Error: ${err}`;
|
||||
});
|
||||
|
||||
// ── Layer toggles ─────────────────────────────────────────────────────────────
|
||||
document.querySelectorAll('[data-layer]').forEach(cb => {
|
||||
cb.addEventListener('change', e => {
|
||||
const name = e.target.dataset.layer;
|
||||
(layers[name] || []).forEach(obj => { obj.visible = e.target.checked; });
|
||||
});
|
||||
});
|
||||
|
||||
// ── Resize ────────────────────────────────────────────────────────────────────
|
||||
window.addEventListener('resize', () => {
|
||||
camera.aspect = innerWidth / innerHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(innerWidth, innerHeight);
|
||||
});
|
||||
|
||||
// ── Render loop ───────────────────────────────────────────────────────────────
|
||||
(function animate() {
|
||||
requestAnimationFrame(animate);
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
})();
|
||||
Reference in New Issue
Block a user