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feat(server): ingest temps réel WS + GUI live + client PC

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Serveur FastAPI reçoit le flux JSONL (sim ou ROV réel) sur /ws/ingest,
SLAM incrémental, rediffuse carte+poses sur /ws/live, GUI live et export PLY.
Déployé Docker sur caddy-net, exposé /moulin-live/. Client PC stream_client.py.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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2026-06-06 20:27:17 +00:00
parent 06e198c7d9
commit 6e83bbd73f
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web/assets/trajectory.csv Normal file
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t,x_dr,y_dr,x_corr,y_corr
4.0000,0.0052,1.2770,0.0052,1.2770
8.0000,0.0099,2.5682,0.0186,2.5028
12.0000,0.0150,3.7379,0.0032,3.5944
16.0000,-0.0363,3.7869,-0.0636,3.5496
20.0000,-1.2863,3.7897,-1.2616,3.5461
24.0000,-2.5763,3.7952,-2.4599,3.5471
28.0000,-2.7656,3.8377,-2.6040,3.5255
32.0000,-2.7679,4.8392,-2.5176,4.4853
36.0000,-2.7505,6.1210,-2.5054,5.5785
40.0000,-2.7465,7.0774,-2.4440,6.4784
44.0000,-2.8020,7.1050,-2.3972,6.2123
48.0000,-2.8469,7.0197,-2.4795,6.0262
52.0000,-2.8601,5.7395,-2.5417,4.6874
56.0000,-2.8680,4.4624,-2.5370,3.4324
60.0000,-2.8839,3.1747,-2.3394,2.7384
64.0000,-2.8918,1.8854,-2.4141,1.5799
68.0000,-2.8906,1.1199,-2.4494,0.8736
72.0000,-2.4417,1.0912,-2.0733,1.0443
76.0000,-1.1468,1.0653,-0.8350,1.0251
80.0000,0.1292,1.0489,0.3113,0.9984
84.0000,1.4097,1.0307,1.5811,0.9940
88.0000,1.4998,1.0806,1.6091,1.0336
92.0000,1.5174,2.1988,1.5662,2.1307
96.0000,1.5338,3.4865,1.6061,3.3106
100.0000,1.5112,3.8156,1.5762,3.6191
104.0000,0.6588,3.8443,0.8076,3.6364
108.0000,-0.1266,3.8464,0.0730,3.6349
112.0000,-0.1646,3.4383,0.1422,3.2418
116.0000,-0.1861,2.1536,0.1467,1.9940
120.0000,-0.2090,0.8700,0.1515,0.7458
1 t x_dr y_dr x_corr y_corr
2 4.0000 0.0052 1.2770 0.0052 1.2770
3 8.0000 0.0099 2.5682 0.0186 2.5028
4 12.0000 0.0150 3.7379 0.0032 3.5944
5 16.0000 -0.0363 3.7869 -0.0636 3.5496
6 20.0000 -1.2863 3.7897 -1.2616 3.5461
7 24.0000 -2.5763 3.7952 -2.4599 3.5471
8 28.0000 -2.7656 3.8377 -2.6040 3.5255
9 32.0000 -2.7679 4.8392 -2.5176 4.4853
10 36.0000 -2.7505 6.1210 -2.5054 5.5785
11 40.0000 -2.7465 7.0774 -2.4440 6.4784
12 44.0000 -2.8020 7.1050 -2.3972 6.2123
13 48.0000 -2.8469 7.0197 -2.4795 6.0262
14 52.0000 -2.8601 5.7395 -2.5417 4.6874
15 56.0000 -2.8680 4.4624 -2.5370 3.4324
16 60.0000 -2.8839 3.1747 -2.3394 2.7384
17 64.0000 -2.8918 1.8854 -2.4141 1.5799
18 68.0000 -2.8906 1.1199 -2.4494 0.8736
19 72.0000 -2.4417 1.0912 -2.0733 1.0443
20 76.0000 -1.1468 1.0653 -0.8350 1.0251
21 80.0000 0.1292 1.0489 0.3113 0.9984
22 84.0000 1.4097 1.0307 1.5811 0.9940
23 88.0000 1.4998 1.0806 1.6091 1.0336
24 92.0000 1.5174 2.1988 1.5662 2.1307
25 96.0000 1.5338 3.4865 1.6061 3.3106
26 100.0000 1.5112 3.8156 1.5762 3.6191
27 104.0000 0.6588 3.8443 0.8076 3.6364
28 108.0000 -0.1266 3.8464 0.0730 3.6349
29 112.0000 -0.1646 3.4383 0.1422 3.2418
30 116.0000 -0.1861 2.1536 0.1467 1.9940
31 120.0000 -0.2090 0.8700 0.1515 0.7458