From 85e9a4d4b0b7df4e163306984a157cfe82ad3924 Mon Sep 17 00:00:00 2001 From: Flag Date: Sat, 6 Jun 2026 20:01:22 +0000 Subject: [PATCH] =?UTF-8?q?feat(moulin-mapper):=20simulateur=20capteurs=20?= =?UTF-8?q?+=20pipeline=20SLAM=20Python=20(JSONL=20stream=20=E2=86=92=20tr?= =?UTF-8?q?ajectoire=20+=20nuage=20.ply)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - simulator.py: flux JSONL réaliste (Ping360 angle/dist, IMU, heading, depth, altitude) + vérité terrain - slam.py: dead-reckoning + scan-to-map ICP 2D (cKDTree) + fermeture de boucle - process.py: ingestion streaming ligne-par-ligne → trajectory.csv + map_2d.csv + cloud.ply - stream_replay.py: rejoue le flux (vision streaming remote) - SCHEMA.md: contrat format données ROV réel↔sim - RMS dead-reckoning 0.386m → scan-matching 0.188m (2x) --- data/out/cloud.ply | 4225 +++++++++++++++++++++++++++++++++++++ data/out/map_2d.csv | 2110 ++++++++++++++++++ data/out/trajectory.csv | 31 + data/sim/run_L.jsonl | 2439 +++++++++++++++++++++ data/sim/run_L_truth.csv | 2440 +++++++++++++++++++++ docs/validation.png | Bin 0 -> 129355 bytes pipeline/README.md | 59 + pipeline/SCHEMA.md | 116 + pipeline/process.py | 307 +++ pipeline/requirements.txt | 2 + pipeline/room.py | 196 ++ pipeline/simulator.py | 314 +++ pipeline/slam.py | 358 ++++ pipeline/stream_replay.py | 80 + 14 files changed, 12677 insertions(+) create mode 100644 data/out/cloud.ply create mode 100644 data/out/map_2d.csv create mode 100644 data/out/trajectory.csv create mode 100644 data/sim/run_L.jsonl create mode 100644 data/sim/run_L_truth.csv create mode 100644 docs/validation.png create mode 100644 pipeline/README.md create mode 100644 pipeline/SCHEMA.md create mode 100644 pipeline/process.py create mode 100644 pipeline/requirements.txt create mode 100644 pipeline/room.py create mode 100644 pipeline/simulator.py create mode 100644 pipeline/slam.py create mode 100644 pipeline/stream_replay.py diff --git 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zhSh(UMj?;MU0Abvdp7g(@4u0kv8QI>S{FVkdmIDoNzj+50s>_Ko9&)=y4XOyeMSrWNzT(ApHLwY4$);Mu!?#K@ zTl!|xSu)uW@O)5!fecyEWX?|MOD~Y-NmJH4Vetken=`gL_IAY#AV912>JRc78jQ{S z`cP}sBpz6|Ly()MMboAlx%;N3;zgiafQ#Lj`cu@R)f2L=X0j|9GyEZQG-W|MJoBd;leLqYyUORS&&KXR}a&4O|$8~$&DL;t^#+tD-X3QOdO{?c8ka~`ImpebMe-16Q30=47AB>(^b literal 0 HcmV?d00001 diff --git a/pipeline/README.md b/pipeline/README.md new file mode 100644 index 0000000..c7e48c4 --- /dev/null +++ b/pipeline/README.md @@ -0,0 +1,59 @@ +# moulin-mapper / pipeline + +Pipeline SLAM 2D pour cartographie de chambre de moulin via Ping360 + BlueROV. + +## Prérequis + +```bash +pip install numpy scipy +# ou dans un venv : +python3 -m venv .venv && source .venv/bin/activate && pip install -r requirements.txt +``` + +## Lancement complet + +```bash +cd pipeline/ + +# 1. Simuler un run complet +python3 simulator.py +# → data/sim/run_L.jsonl (flux capteurs) +# → data/sim/run_L_truth.csv (vérité terrain) + +# 2. Traiter le flux et exporter +python3 process.py +# → data/out/trajectory.csv +# → data/out/map_2d.csv +# → data/out/cloud.ply +# Affiche RMS dead-reckoning vs scan-matching + +# 3. Streaming pipe (simule flux réseau live) +python3 stream_replay.py | python3 process.py --stdin +# ou acceleré 10x avec timing réel : +python3 stream_replay.py --realtime --speed 10 | python3 process.py --stdin +``` + +## Fichiers + +| Fichier | Rôle | +|-------------------|------| +| `SCHEMA.md` | Contrat de format du flux JSONL | +| `room.py` | Géométrie chambre + raycast 2D | +| `simulator.py` | Génère données simulées réalistes | +| `slam.py` | Dead-reckoning + ICP + fermeture de boucle | +| `process.py` | Pipeline streaming complet, exports | +| `stream_replay.py`| Rejoue JSONL sur stdout (pipe vers process.py) | + +## Brancher le vrai ROV + +Remplacer la source dans `process.py` par le flux réseau BlueROV : + +```python +# Exemple : flux TCP depuis ArduSub +import socket +sock = socket.create_connection(("192.168.x.x", PORT)) +run_pipeline(sock.makefile(), truth_path=None, out_dir="data/out") +``` + +Le format JSONL est défini dans `SCHEMA.md` — le pipeline est identique +sur données simulées et réelles. diff --git a/pipeline/SCHEMA.md b/pipeline/SCHEMA.md new file mode 100644 index 0000000..f481152 --- /dev/null +++ b/pipeline/SCHEMA.md @@ -0,0 +1,116 @@ +# SCHEMA.md — Contrat de flux capteurs moulin-mapper + +## Principe + +Une ligne JSONL = un échantillon Ping360 (un faisceau sonar émis à un angle donné) +avec la **télémétrie co-enregistrée à cet instant exact**. + +Le pipeline de traitement doit fonctionner identiquement sur : +- données simulées (simulator.py) +- données réelles BlueROV (juste changer la source) + +Champs optionnels futurs (`image_ref`, `confidence`, etc.) peuvent s'ajouter +sans casser le pipeline — tous les champs inconnus sont ignorés. + +--- + +## Format : JSONL (JSON Lines) + +Un objet JSON par ligne, terminé par `\n`. Pas de tableau englobant. + +### Exemple + +```jsonl +{"t": 12.345, "ping360_angle": 174.6, "ping360_distance": 3.21, "heading": 88.2, "altitude": 1.05, "depth": 1.82, "ax": 0.01, "ay": -0.02, "az": 9.79, "gx": 0.001, "gy": 0.0, "gz": 0.05} +``` + +--- + +## Champs obligatoires + +| Champ | Type | Unité | Description | +|--------------------|---------|-----------|-------------| +| `t` | float | s | Timestamp depuis le démarrage du flux (epoch relatif) | +| `ping360_angle` | float | deg | Angle du faisceau sonar **relatif au cap ROV** (0 = avant ROV) | +| `ping360_distance` | float | m | Distance mesurée jusqu'au premier écho (0.0 = dropout/pas d'écho) | +| `heading` | float | deg | Cap magnétique ROV, convention Nord=0, Est=90 (CW) | +| `altitude` | float | m | Hauteur au-dessus du fond (Ping1D vers le bas), 0.0 = dropout | +| `depth` | float | m | Profondeur sous la surface (pression bar → m d'eau), positif vers le bas | +| `ax` | float | m/s² | Accélération IMU axe X (avant ROV dans repère corps) | +| `ay` | float | m/s² | Accélération IMU axe Y (gauche ROV dans repère corps) | +| `az` | float | m/s² | Accélération IMU axe Z (haut ROV dans repère corps), ~+9.81 au repos | +| `gx` | float | rad/s | Gyromètre axe X (roulis) | +| `gy` | float | rad/s | Gyromètre axe Y (tangage) | +| `gz` | float | rad/s | Gyromètre axe Z (lacet, positif = rotation CW vue du dessus) | + +--- + +## Repères et conventions + +### Repère monde : ENU local +- X = Est, Y = Nord, Z = vers le haut +- Origine = position initiale du ROV au démarrage +- Le heading 0° correspond à +Y (Nord) + +### Ping360 +- **400 pas/tour** (comme le vrai Ping360 BlueRobotics) → résolution angulaire 0.9°/pas +- `ping360_angle` est **relatif au cap ROV** (0° = avant du ROV) +- Pour obtenir l'angle monde : `angle_monde = (heading + ping360_angle) % 360` +- Plage : [0, 360) degrés +- `ping360_distance = 0.0` signifie absence d'écho (dropout) — à ignorer dans le pipeline + +### Heading +- Convention magnétique compas : 0°=Nord, 90°=Est, 180°=Sud, 270°=Ouest (CW) +- Bruit typique simulé : ~0.5° RMS +- Dérive lente optionnelle pour simuler un mauvais magnéto + +### Altitude (Ping1D) +- Sonar vertical pointant vers le bas +- Mesure la distance ROV → fond en mètres +- `altitude = 0.0` signifie dropout (confidence trop basse) +- Hauteur ROV au-dessus du fond = `altitude` +- Profondeur fond = `depth + altitude` + +### IMU +- Repère corps ROV (Body frame) — PAS ENU +- `az` ≈ +9.81 m/s² au repos (gravité remontant dans le repère corps) +- Biais gyro simulé : ~0.005 rad/s — cause dérive dead-reckoning ~18°/min + +--- + +## Fréquences typiques + +| Source | Fréquence | +|----------------|-----------| +| Ping360 | 400 msgs/sweep, ~1 sweep/4 s (configurable) | +| IMU | 1 msg par ligne JSONL (co-enregistré avec le ping sonar) | +| heading | idem | +| altitude | idem | +| depth | idem | + +--- + +## Fichier vérité terrain (simulation uniquement) + +`run_L_truth.csv` — colonnes : `t, x, y, heading_deg, z` +- x, y en mètres ENU depuis l'origine +- heading_deg : cap vrai (sans bruit) +- z : profondeur (positif vers le bas) +- Ce fichier n'existe PAS sur données réelles — sert uniquement à valider l'algo + +--- + +## Champs optionnels (présents dans la simulation, rétrocompatibles) + +| Champ | Type | Unité | Description | +|------------------|--------|-------|-------------| +| `vf` | float | m/s | Vitesse corps forward (avant ROV) — modèle thruster ou DVL | +| `vl` | float | m/s | Vitesse corps latérale — modèle thruster ou DVL | +| `image_ref` | string | — | Nom du fichier image caméra co-enregistrée | +| `confidence` | float | [0,1] | Confiance écho Ping360 | +| `temperature` | float | °C | Capteur eau | +| `battery_v` | float | V | Tension batterie | + +`vf` et `vl` sont produits par le simulateur depuis le modèle de thruster. +Sur un vrai BlueROV, ils peuvent venir d'un DVL ou du contrôleur de poussée. +Le pipeline DR utilise `vf`/`vl` s'ils sont présents, sinon intègre `ax`/`ay`. diff --git a/pipeline/process.py b/pipeline/process.py new file mode 100644 index 0000000..4ecb954 --- /dev/null +++ b/pipeline/process.py @@ -0,0 +1,307 @@ +""" +process.py — Pipeline complet streaming moulin-mapper. + +Lit le flux JSONL ligne par ligne (streaming), applique dead-reckoning ++ scan-matching ICP, exporte les résultats. + +Usage : + python3 process.py [--input ../data/sim/run_L.jsonl] [--truth ../data/sim/run_L_truth.csv] + python3 stream_replay.py | python3 process.py --stdin +""" + +import argparse +import csv +import json +import os +import sys +import numpy as np +from typing import List, Tuple, Optional + +# Assure imports depuis pipeline/ +sys.path.insert(0, os.path.dirname(__file__)) +from slam import ( + DeadReckoning, + SweepAccumulator, + sweep_to_world_points, + icp_2d, + IncrementalMap, + LoopClosureDetector, + apply_loop_closure, +) + +ROV_Z = 1.5 # profondeur fixe ROV (m) — sera remplacé par depth réel +ROV_ALT = 0.5 # hauteur fond (m) — sera remplacé par altitude réelle + + +# --------------------------------------------------------------------------- +# Lecture JSONL streaming +# --------------------------------------------------------------------------- + +def stream_jsonl(source): + """ + Générateur : lit le flux JSONL ligne par ligne depuis un fichier ou stdin. + Chaque appel yield un dict Python. + """ + for line in source: + line = line.strip() + if not line: + continue + try: + yield json.loads(line) + except json.JSONDecodeError: + continue + + +# --------------------------------------------------------------------------- +# Chargement vérité terrain (optionnel) +# --------------------------------------------------------------------------- + +def load_truth(truth_path: str) -> np.ndarray: + """Retourne array (N, 5) : t, x, y, heading_deg, z""" + rows = [] + with open(truth_path) as f: + reader = csv.DictReader(f) + for row in reader: + rows.append([float(row["t"]), float(row["x"]), float(row["y"]), + float(row["heading_deg"]), float(row["z"])]) + return np.array(rows) + + +def interpolate_truth(truth: np.ndarray, t: float) -> np.ndarray: + """Interpole la vérité terrain à l'instant t.""" + idx = np.searchsorted(truth[:, 0], t) + idx = min(idx, len(truth) - 1) + return truth[idx] + + +# --------------------------------------------------------------------------- +# Export PLY ASCII (nuage 3D) +# --------------------------------------------------------------------------- + +def write_ply(path: str, map2d: np.ndarray, depth: float, altitude: float) -> int: + """ + Extrude le contour 2D entre le fond et la surface → nuage 3D ASCII PLY. + Retourne le nombre de points. + """ + pts = [] + z_surface = -depth # z=0 à la surface, profondeur = négatif si on va vers le bas + z_bottom = -(depth + altitude) + + for x, y in map2d: + pts.append((x, y, z_surface)) + pts.append((x, y, z_bottom)) + + os.makedirs(os.path.dirname(path), exist_ok=True) + with open(path, "w") as f: + f.write("ply\nformat ascii 1.0\n") + f.write(f"element vertex {len(pts)}\n") + f.write("property float x\nproperty float y\nproperty float z\n") + f.write("end_header\n") + for px, py, pz in pts: + f.write(f"{px:.4f} {py:.4f} {pz:.4f}\n") + return len(pts) + + +# --------------------------------------------------------------------------- +# Pipeline principal +# --------------------------------------------------------------------------- + +def run_pipeline(source, truth_path: Optional[str] = None, out_dir: str = "../data/out"): + os.makedirs(out_dir, exist_ok=True) + + # Composants SLAM + dr = DeadReckoning() + sweep_acc = SweepAccumulator(steps=400) + global_map = IncrementalMap(voxel_size=0.05) + loop_detector = LoopClosureDetector(min_time=15.0, dist_thresh=0.8) + + # Trajectoire estimée : dead-reckoning + corrigée + traj_dr: List[Tuple] = [] # (t, x, y) + traj_corr: List[Tuple] = [] # (t, x, y) + + # Offset ICP cumulatif : déplacement total appliqué au-dessus du DR + # Maintenu entre les sweeps pour que la pose corrigée reste cohérente + icp_offset = np.array([0.0, 0.0]) + + # Accumulation erreurs pour RMS + dr_errors = [] + sm_errors = [] + truth = None + if truth_path and os.path.exists(truth_path): + truth = load_truth(truth_path) + print(f"Vérité terrain chargée : {len(truth)} points") + + n_sweeps = 0 + n_loop_closures = 0 + sweep_poses = [] # (sweep_idx, t, x_corr, y_corr) + + x_dr, y_dr, h_dr = 0.0, 0.0, 0.0 + last_depth = ROV_Z + last_altitude = ROV_ALT + + for record in stream_jsonl(source): + t = record["t"] + hdg = record["heading"] + alt = record["altitude"] + depth_r = record["depth"] + ax = record["ax"] + ay = record["ay"] + az = record["az"] + gz = record.get("gz", 0.0) + vf = record.get("vf", None) # vitesse forward (optionnel) + vl = record.get("vl", 0.0) + ping_angle = record["ping360_angle"] + ping_dist = record["ping360_distance"] + + if alt > 0.01: + last_altitude = alt + if depth_r > 0.01: + last_depth = depth_r + + # --- Dead-reckoning --- + x_dr, y_dr, h_dr = dr.update(t, hdg, ax, ay, az, gz=gz, vf=vf, vl=vl) + + # Pose corrigée = pose DR + offset ICP cumulatif + # L'offset est mis à jour à chaque sweep ICP réussi + pose_dr = np.array([x_dr, y_dr]) + pose_corr_cur = pose_dr + icp_offset + + # --- Sweep Ping360 --- + # On passe la pose CORRIGÉE au sweep pour générer des points + # cohérents avec la carte globale déjà corrigée + pose_for_sweep = (pose_corr_cur[0], pose_corr_cur[1], h_dr) + completed = sweep_acc.add_beam(ping_angle, ping_dist, pose_for_sweep) + + if completed is not None: + n_sweeps += 1 + + # Points murs depuis le sweep (en coordonnées pose_corr) + sweep_pts = sweep_to_world_points(completed) + + if len(sweep_pts) >= 5: + map_arr = global_map.get_array() + + if len(map_arr) >= 10: + # ICP : recaler sweep sur carte → donne correction résiduelle + # La correction est petite car la pose déjà corrigée + dx, dy, dtheta, converged = icp_2d( + sweep_pts, map_arr, + max_iter=30, tol=1e-4, max_dist=0.5 + ) + + if converged: + # Mise à jour de l'offset cumulatif + icp_offset = icp_offset + np.array([dx, dy]) + pose_corr_cur = pose_dr + icp_offset + + # Ajouter les points du sweep à la carte globale + # (avec la pose corrigée) + global_map.add_points(sweep_pts + icp_offset) + + # Enregistrer la pose pour la trajectoire + traj_dr.append((t, x_dr, y_dr)) + traj_corr.append((t, pose_corr_cur[0], pose_corr_cur[1])) + sweep_poses.append((n_sweeps - 1, t, pose_corr_cur[0], pose_corr_cur[1])) + + # Vérification erreurs vs vérité + if truth is not None: + gt = interpolate_truth(truth, t) + gt_xy = gt[1:3] + dr_errors.append(float(np.linalg.norm(pose_dr - gt_xy))) + sm_errors.append(float(np.linalg.norm(pose_corr_cur - gt_xy))) + + # Détection fermeture de boucle + loop_detector.add_pose(t, pose_corr_cur[0], pose_corr_cur[1], n_sweeps - 1) + match_idx = loop_detector.check(t, pose_corr_cur[0], pose_corr_cur[1]) + if match_idx is not None and match_idx < len(sweep_poses) - 3: + n_loop_closures += 1 + _, ox, oy = traj_corr[match_idx] + correction = np.array([ox - pose_corr_cur[0], oy - pose_corr_cur[1]]) * 0.5 + # Redistribuer la correction linéairement + for i in range(match_idx, len(traj_corr)): + alpha = (i - match_idx) / max(1, len(traj_corr) - 1 - match_idx) + t2, x2, y2 = traj_corr[i] + traj_corr[i] = (t2, x2 + alpha * correction[0], y2 + alpha * correction[1]) + icp_offset = icp_offset + correction + loop_detector.history.clear() + + # --------------------------------------------------------------------------- + # Export résultats + # --------------------------------------------------------------------------- + + # trajectory.csv + traj_path = os.path.join(out_dir, "trajectory.csv") + with open(traj_path, "w", newline="") as f: + writer = csv.writer(f) + writer.writerow(["t", "x_dr", "y_dr", "x_corr", "y_corr"]) + n = min(len(traj_dr), len(traj_corr)) + for i in range(n): + t2, xd, yd = traj_dr[i] + _, xc, yc = traj_corr[i] + writer.writerow([f"{t2:.4f}", f"{xd:.4f}", f"{yd:.4f}", + f"{xc:.4f}", f"{yc:.4f}"]) + + # map_2d.csv + map_arr = global_map.get_array() + map_path = os.path.join(out_dir, "map_2d.csv") + with open(map_path, "w", newline="") as f: + writer = csv.writer(f) + writer.writerow(["x", "y"]) + for x2, y2 in map_arr: + writer.writerow([f"{x2:.4f}", f"{y2:.4f}"]) + + # cloud.ply + ply_path = os.path.join(out_dir, "cloud.ply") + n_ply_pts = write_ply(ply_path, map_arr, last_depth, last_altitude) + + # --------------------------------------------------------------------------- + # Stats + # --------------------------------------------------------------------------- + print("\n=== Résultats pipeline ===") + print(f"Sweeps traités : {n_sweeps}") + print(f"Fermetures de boucle : {n_loop_closures}") + print(f"Points carte 2D : {len(global_map)}") + print(f"Points nuage 3D (PLY) : {n_ply_pts}") + print(f"Taille cloud.ply : {os.path.getsize(ply_path)/1e3:.1f} Ko") + + if dr_errors and sm_errors: + rms_dr = float(np.sqrt(np.mean(np.array(dr_errors)**2))) + rms_sm = float(np.sqrt(np.mean(np.array(sm_errors)**2))) + ratio = rms_sm / rms_dr if rms_dr > 0 else float("inf") + print(f"\nRMS erreur dead-reckoning : {rms_dr:.3f} m") + print(f"RMS erreur scan-matching : {rms_sm:.3f} m") + print(f"Amélioration : {ratio:.2f}x (DR/SM={rms_dr/rms_sm:.1f}x)") + if rms_sm < rms_dr: + print("OK — scan-matching améliore la position vs dead-reckoning") + else: + print("AVERTISSEMENT — scan-matching n'améliore pas (données insuffisantes?)") + else: + print("\nPas de vérité terrain → pas de calcul RMS") + + print(f"\nFichiers exportés dans {out_dir}/") + print(f" {traj_path}") + print(f" {map_path}") + print(f" {ply_path}") + + +# --------------------------------------------------------------------------- +# CLI +# --------------------------------------------------------------------------- +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Pipeline SLAM moulin-mapper") + parser.add_argument("--input", default="../data/sim/run_L.jsonl", + help="Fichier JSONL en entrée") + parser.add_argument("--truth", default="../data/sim/run_L_truth.csv", + help="Fichier vérité terrain (optionnel)") + parser.add_argument("--out-dir", default="../data/out") + parser.add_argument("--stdin", action="store_true", + help="Lire depuis stdin au lieu d'un fichier") + args = parser.parse_args() + + if args.stdin: + print("Lecture depuis stdin (streaming)...") + run_pipeline(sys.stdin, truth_path=None, out_dir=args.out_dir) + else: + truth_p = args.truth if os.path.exists(args.truth) else None + with open(args.input) as f: + run_pipeline(f, truth_path=truth_p, out_dir=args.out_dir) diff --git a/pipeline/requirements.txt b/pipeline/requirements.txt new file mode 100644 index 0000000..0ffddef --- /dev/null +++ b/pipeline/requirements.txt @@ -0,0 +1,2 @@ +numpy>=1.24 +scipy>=1.10 diff --git a/pipeline/room.py b/pipeline/room.py new file mode 100644 index 0000000..c357c6d --- /dev/null +++ b/pipeline/room.py @@ -0,0 +1,196 @@ +""" +room.py — Géométrie de la chambre de moulin + raycast 2D. + +La chambre est un polygone (pièce en L avec une niche). +Toutes les coordonnées sont en mètres, repère ENU local (x=Est, y=Nord). +""" + +import numpy as np +from typing import Optional, List, Tuple + + +# --------------------------------------------------------------------------- +# Géométrie : chambre en L avec une niche dans le mur Est +# --------------------------------------------------------------------------- +# +# y +# ^ +# | +# 8 +---+ +# | | <- couloir Nord +# 5 + +-------+ +# | | <- grande salle +# | niche | +# 2 + +---+ | +# | | | +# 0 +-------+---+---> x +# 0 3 5 8 +# +# La niche est dans la grande salle, côté Ouest (renfoncement à x=3..5, y=2..5) +# La chambre principale va de x=0..8, y=0..5 +# Le couloir va de x=0..3, y=5..8 + +ROOM_POLYGON = np.array([ + [0.0, 0.0], # 0 — coin Sud-Ouest + [8.0, 0.0], # 1 — coin Sud-Est + [8.0, 5.0], # 2 — coin Est milieu + [3.0, 5.0], # 3 — jonction couloir/salle + [3.0, 8.0], # 4 — coin Nord-Est couloir + [0.0, 8.0], # 5 — coin Nord-Ouest +], dtype=float) + +# Niche : renfoncement dans le mur Ouest de la grande salle +# C'est un rectangle "creusé" dans x=0..3, y=2..4 +# On l'ajoute comme polygone séparé (trou dans la géométrie) +# Simplification : on le modélise comme murs supplémentaires +NICHE_WALLS = np.array([ + # mur du fond de la niche (à x=3, de y=2 à y=4) — déjà dans le polygone principal + # mur Nord de la niche (y=4, de x=0 à x=3) + [[0.0, 4.0], [3.0, 4.0]], + # mur Sud de la niche (y=2, de x=0 à x=3) + [[0.0, 2.0], [3.0, 2.0]], +], dtype=float) + + +def _polygon_to_segments(poly: np.ndarray) -> List[Tuple[np.ndarray, np.ndarray]]: + """Convertit un polygone fermé en liste de segments (p0, p1).""" + segs = [] + n = len(poly) + for i in range(n): + segs.append((poly[i], poly[(i + 1) % n])) + return segs + + +def get_all_segments() -> List[Tuple[np.ndarray, np.ndarray]]: + """Retourne tous les segments de murs de la chambre.""" + segs = _polygon_to_segments(ROOM_POLYGON) + for wall in NICHE_WALLS: + segs.append((wall[0], wall[1])) + return segs + + +_ALL_SEGMENTS = get_all_segments() + + +# --------------------------------------------------------------------------- +# Raycast : intersection rayon / segments +# --------------------------------------------------------------------------- + +def _ray_segment_intersect( + origin: np.ndarray, + direction: np.ndarray, + p0: np.ndarray, + p1: np.ndarray, +) -> Optional[float]: + """ + Intersection d'un rayon (origin + t*direction) avec un segment [p0, p1]. + Retourne t > 0 si intersection, None sinon. + + Système : origin + t*D = p0 + u*(p1-p0) + → M * [t, u]^T = p0 - origin, M = [D | -(p1-p0)] + Résolu par règle de Cramer 2×2. + """ + dx = direction[0] + dy = direction[1] + # vecteur segment + ex = p1[0] - p0[0] + ey = p1[1] - p0[1] + + # det(M) = det([[dx, -ex], [dy, -ey]]) = dx*(-ey) - (-ex)*dy = -dx*ey + ex*dy + denom = -dx * ey + ex * dy + + if abs(denom) < 1e-12: + # Rayon parallèle au segment + return None + + # Second membre : p0 - origin + bx = p0[0] - origin[0] + by = p0[1] - origin[1] + + # Cramer : t = det([[bx, -ex], [by, -ey]]) / denom + t = (-bx * ey + ex * by) / denom + # Cramer : u = det([[dx, bx], [dy, by]]) / denom + u = (dx * by - bx * dy) / denom + + if t >= 0.0 and 0.0 <= u <= 1.0: + return t + return None + + +def range_to_walls( + x: float, + y: float, + bearing_world_deg: float, + max_range: float = 30.0, +) -> Optional[float]: + """ + Calcule la distance depuis (x, y) jusqu'au premier mur dans la direction + bearing_world_deg (convention : 0°=Nord/+Y, 90°=Est/+X, CW). + + Retourne la distance en mètres, ou None si aucune intersection dans max_range. + """ + # Conversion cap → vecteur direction ENU (x=Est, y=Nord) + bearing_rad = np.deg2rad(bearing_world_deg) + # cap 0°=Nord → direction (sin θ, cos θ) dans ENU + direction = np.array([np.sin(bearing_rad), np.cos(bearing_rad)], dtype=float) + + origin = np.array([x, y], dtype=float) + min_t = None + + for p0, p1 in _ALL_SEGMENTS: + t = _ray_segment_intersect(origin, direction, p0, p1) + if t is not None and t > 1e-6: + if min_t is None or t < min_t: + min_t = t + + if min_t is not None and min_t <= max_range: + return min_t + return None + + +def point_in_room(x: float, y: float) -> bool: + """ + Test d'appartenance à l'intérieur de la chambre. + Utilise l'algorithme du ray casting (rayon vers +x infini). + Tient compte des deux zones : grande salle + couloir, moins la niche. + """ + # Grande salle : x in [0,8], y in [0,5] + in_main = (0 <= x <= 8) and (0 <= y <= 5) + # Couloir : x in [0,3], y in [5,8] + in_corridor = (0 <= x <= 3) and (5 <= y <= 8) + # Niche (vide) : x in [0,3], y in [2,4] — cet espace est ouvert (pas de mur intérieur) + # Simplifié : la niche est incluse dans main salle + + return in_main or in_corridor + + +def get_room_bounds() -> Tuple[float, float, float, float]: + """Retourne (xmin, xmax, ymin, ymax) de la chambre.""" + pts = ROOM_POLYGON + return float(pts[:, 0].min()), float(pts[:, 0].max()), \ + float(pts[:, 1].min()), float(pts[:, 1].max()) + + +# --------------------------------------------------------------------------- +# Test rapide +# --------------------------------------------------------------------------- +if __name__ == "__main__": + print("=== Test raycast chambre ===") + # Depuis le centre de la grande salle + cx, cy = 4.0, 2.5 + for bearing in [0, 90, 180, 270]: + d = range_to_walls(cx, cy, bearing) + ds = f"{d:.3f}" if d is not None else "None" + print(f" cap {bearing:3d}° → {ds} m") + + # Attendu approximatif : + # 0° (Nord) → 2.5 m (mur y=5) + # 90° (Est) → 4.0 m (mur x=8) + # 180° (Sud) → 2.5 m (mur y=0) + # 270° (Ouest) → 1.0 m (mur niche y=2→4? Non, ici y=2.5 donc mur x=0 → 4m) + # Attention : niche = renfoncement dans mur Ouest basse, pas à y=2.5 + # À y=2.5 (entre 2 et 4) le mur Ouest est à x=0 → 4.0 m + + print("\nPoint in room:") + for pt, expected in [((4, 2.5), True), ((1, 6), True), ((5, 6), False), ((-1, 1), False)]: + print(f" {pt} → {point_in_room(*pt)} (attendu {expected})") diff --git a/pipeline/simulator.py b/pipeline/simulator.py new file mode 100644 index 0000000..e0328d9 --- /dev/null +++ b/pipeline/simulator.py @@ -0,0 +1,314 @@ +""" +simulator.py — Génère un flux JSONL réaliste pour le moulin-mapper. + +Produit : + ../data/sim/run_L.jsonl — flux capteurs (même format que le vrai ROV) + ../data/sim/run_L_truth.csv — vérité terrain (x, y, heading_deg, z, t) + +Usage : python3 simulator.py [--out-dir ../data/sim] [--sweep-period 4.0] +""" + +import argparse +import json +import os +import csv +import numpy as np + +# Assure que room.py est importable depuis pipeline/ +import sys +sys.path.insert(0, os.path.dirname(__file__)) +from room import range_to_walls + +# --------------------------------------------------------------------------- +# Paramètres capteurs +# --------------------------------------------------------------------------- +PING360_STEPS = 400 # pas/tour (vrai Ping360) +DEG_PER_STEP = 360.0 / PING360_STEPS # 0.9°/pas +PING360_NOISE_M = 0.03 # bruit mesure sonar (m RMS) +PING360_DROPOUT_PROB = 0.03 # probabilité de retour nul + +# IMU : biais accéléro réaliste MEMS (BlueRobotics Navigator) +# Petits biais : la vraie dérive vient de leur intégration double +IMU_ACCEL_NOISE = 0.02 # m/s² (bruit blanc accéléro) +IMU_ACCEL_BIAS_F = 0.015 # m/s² biais avant (axe body X) +IMU_ACCEL_BIAS_L = -0.010 # m/s² biais latéral (axe body Y) +IMU_GYRO_NOISE = 0.001 # rad/s (bruit gyro) +IMU_GYRO_BIAS = 0.003 # rad/s (biais lacet → dérive heading si on n'a pas de magnéto) + +HEADING_NOISE_DEG = 0.4 # bruit magnéto (deg RMS) +HEADING_DRIFT_RATE = 0.01 # deg/s dérive très lente magnéto (réaliste) + +ALTITUDE_NOISE_M = 0.04 # bruit Ping1D +ALTITUDE_DROPOUT_PROB = 0.04 +ROV_Z = 1.5 # profondeur ROV sous surface (m) +ROV_ALT = 0.5 # hauteur ROV au-dessus du fond (m) +DEPTH_NOISE_M = 0.015 # bruit capteur pression + +GRAVITY = 9.81 # m/s² + +# Vitesse de translation ROV (m/s) — BlueROV2 lent dans une chambre étroite +ROV_SPEED = 0.3 # m/s (vitesse de croisière) +# Taux de rotation max (deg/s) en virage +ROV_TURN_RATE = 20.0 # deg/s + + +# --------------------------------------------------------------------------- +# Trajectoire scriptée avec cinématique lisse +# --------------------------------------------------------------------------- + +def smooth_trajectory(dt: float = 0.05) -> np.ndarray: + """ + Trajectoire ROV avec vitesses lisses (pas de saut d'accélération). + Le ROV se déplace à vitesse constante ROV_SPEED, tourne progressivement. + Retourne array (N, 4) : [t, x, y, heading_deg] + + Trajectoire en L couvrant la chambre, avec retour près du départ (boucle). + """ + # Waypoints (x_target, y_target) — le ROV va d'un point à l'autre + # à vitesse constante, en tournant progressivement vers la destination + waypoints = [ + (4.0, 1.0), # départ + (4.0, 4.5), # avance Nord + (1.5, 4.5), # tourne Ouest + (1.5, 7.5), # monte dans couloir + (1.5, 5.5), # redescend (demi-tour) + (1.5, 2.0), # descend Sud + (5.5, 2.0), # traverse Est + (5.5, 4.5), # remonte Nord + (4.0, 4.5), # revient vers le milieu + (4.0, 1.2), # retour près du départ (fermeture boucle) + ] + + records = [] + t = 0.0 + x, y = waypoints[0] + heading_deg = 0.0 # Nord au départ + + for target_x, target_y in waypoints[1:]: + # Direction vers la cible + dx = target_x - x + dy = target_y - y + dist = np.sqrt(dx**2 + dy**2) + if dist < 0.01: + continue + + # Cap cible (convention 0°=Nord, 90°=Est) + target_heading = np.rad2deg(np.arctan2(dx, dy)) % 360 + + # Phase 1 : rotation sur place vers le cap cible + dh = ((target_heading - heading_deg + 180) % 360) - 180 + turn_steps = max(1, int(abs(dh) / (ROV_TURN_RATE * dt))) + for j in range(turn_steps): + heading_deg += np.sign(dh) * ROV_TURN_RATE * dt + heading_deg %= 360 + records.append([t, x, y, heading_deg]) + t += dt + + heading_deg = target_heading + + # Phase 2 : avance vers la cible à vitesse constante + travel_time = dist / ROV_SPEED + move_steps = max(1, int(travel_time / dt)) + for j in range(move_steps): + frac = (j + 1) / move_steps + x_cur = x + dx * frac + y_cur = y + dy * frac + records.append([t, x_cur, y_cur, heading_deg]) + t += dt + + x, y = target_x, target_y + + return np.array(records) + + +# --------------------------------------------------------------------------- +# Générateur principal +# --------------------------------------------------------------------------- + +def simulate( + out_dir: str = "../data/sim", + sweep_period: float = 4.0, + dt: float = 0.05, + rng_seed: int = 42, +) -> None: + rng = np.random.default_rng(rng_seed) + os.makedirs(out_dir, exist_ok=True) + + jsonl_path = os.path.join(out_dir, "run_L.jsonl") + truth_path = os.path.join(out_dir, "run_L_truth.csv") + + # Trajectoire vraie (lisse) + traj = smooth_trajectory(dt=dt) + N = len(traj) + print(f"Trajectoire : {N} pas, durée totale {traj[-1, 0]:.1f} s") + + # Vitesse en repère corps (forward, lateral) + # On dérive la position puis projette dans le repère corps + px = traj[:, 1] + py = traj[:, 2] + heading_true = traj[:, 3] + + # Vitesses monde + vx_world = np.gradient(px, traj[:, 0]) + vy_world = np.gradient(py, traj[:, 0]) + + # Accélérations monde → lisser (ROV a inertie) + ax_world_raw = np.gradient(vx_world, traj[:, 0]) + ay_world_raw = np.gradient(vy_world, traj[:, 0]) + + # Filtrage léger des pics aux transitions (moyenne glissante 5 pts) + from numpy.lib.stride_tricks import sliding_window_view + def smooth5(arr): + out = arr.copy() + out[2:-2] = sliding_window_view(arr, 5).mean(axis=1) + return out + + ax_world = smooth5(ax_world_raw) + ay_world = smooth5(ay_world_raw) + + # Projection accélération monde → corps + h_rad_arr = np.deg2rad(heading_true) + sin_h = np.sin(h_rad_arr) + cos_h = np.cos(h_rad_arr) + + # Convention : avant ROV = (sin h, cos h) en ENU (cap 0°=+Y Nord) + # axe corps X = avant, axe corps Y = gauche + ax_body_true = ax_world * sin_h + ay_world * cos_h + ay_body_true = -ax_world * cos_h + ay_world * sin_h + + # Vitesse corps vraie (forward, lateral) + # vx_world, vy_world déjà calculés — projection dans repère corps + vf_true = vx_world * sin_h + vy_world * cos_h # avant + vl_true = -vx_world * cos_h + vy_world * sin_h # latéral + + # Dérivée de heading pour le gyro + dh_arr = np.gradient(heading_true, traj[:, 0]) + # court chemin sur la dérivée angulaire + dh_arr = ((dh_arr + 180) % 360) - 180 + gz_true_arr = np.deg2rad(dh_arr) + + # Ping360 : balayage continu + # step_per_dt = (PING360_STEPS / sweep_period) * dt → degrés par step de traj + step_deg_per_dt = (PING360_STEPS / sweep_period) * dt * DEG_PER_STEP + current_ping_angle = 0.0 + + # Dérive magnéto cumulative + heading_drift = 0.0 + + # Origine = position initiale du ROV (pour que le DR (0,0) corresponde à la vérité) + x0_room = traj[0, 1] + y0_room = traj[0, 2] + + records = [] + truth_rows = [] + + for i in range(N): + t_i = traj[i, 0] + x_i = traj[i, 1] + y_i = traj[i, 2] + h_i = heading_true[i] + + # --- heading mesuré (magnéto) --- + heading_drift += HEADING_DRIFT_RATE * dt + h_meas = (h_i + rng.normal(0, HEADING_NOISE_DEG) + heading_drift) % 360 + + # --- angle Ping360 (relatif au ROV) --- + ping_angle_rel = current_ping_angle % 360.0 + current_ping_angle += step_deg_per_dt + + # angle monde = cap vrai + angle_relatif + ping_angle_world = (h_i + ping_angle_rel) % 360.0 + + # --- raycast → distance vraie --- + d_true = range_to_walls(x_i, y_i, ping_angle_world) + + # --- bruit + dropout --- + if d_true is None or rng.random() < PING360_DROPOUT_PROB: + ping_dist = 0.0 + else: + ping_dist = max(0.0, d_true + rng.normal(0, PING360_NOISE_M)) + + # --- IMU --- + # Accélération corps vraie + biais + bruit + ax_m = ax_body_true[i] + IMU_ACCEL_BIAS_F + rng.normal(0, IMU_ACCEL_NOISE) + ay_m = ay_body_true[i] + IMU_ACCEL_BIAS_L + rng.normal(0, IMU_ACCEL_NOISE) + az_m = GRAVITY + rng.normal(0, IMU_ACCEL_NOISE) + + # Gyro lacet : taux de rotation vrai + biais + bruit + gz_m = gz_true_arr[i] + IMU_GYRO_BIAS + rng.normal(0, IMU_GYRO_NOISE) + gx_m = rng.normal(0, IMU_GYRO_NOISE) + gy_m = rng.normal(0, IMU_GYRO_NOISE) + + # --- altitude (Ping1D) --- + if rng.random() < ALTITUDE_DROPOUT_PROB: + alt_m = 0.0 + else: + alt_m = max(0.0, ROV_ALT + rng.normal(0, ALTITUDE_NOISE_M)) + + # --- profondeur --- + depth_m = max(0.0, ROV_Z + rng.normal(0, DEPTH_NOISE_M)) + + # --- vitesse corps (thruster controller / DVL simplifié) --- + # Bruit de vitesse : erreur ~3% de la vitesse max (0.3 m/s) = ~0.01 m/s + # Biais vitesse : représente les courants / asymétrie thrusters + VF_BIAS = 0.02 # m/s biais forward constant + VF_NOISE = 0.015 # m/s bruit mesure vitesse + vf_m = float(vf_true[i]) + VF_BIAS + rng.normal(0, VF_NOISE) + vl_m = float(vl_true[i]) + rng.normal(0, VF_NOISE * 0.5) + + record = { + "t": round(float(t_i), 4), + "ping360_angle": round(float(ping_angle_rel), 2), + "ping360_distance": round(float(ping_dist), 4), + "heading": round(float(h_meas), 3), + "altitude": round(float(alt_m), 4), + "depth": round(float(depth_m), 4), + "ax": round(float(ax_m), 5), + "ay": round(float(ay_m), 5), + "az": round(float(az_m), 5), + "gx": round(float(gx_m), 6), + "gy": round(float(gy_m), 6), + "gz": round(float(gz_m), 6), + "vf": round(float(vf_m), 4), # vitesse corps forward (m/s) — thruster model + "vl": round(float(vl_m), 4), # vitesse corps latérale (m/s) + } + records.append(record) + # Vérité en coordonnées relatives au départ (même repère que le DR qui commence à 0,0) + truth_rows.append([float(t_i), float(x_i - x0_room), float(y_i - y0_room), float(h_i), ROV_Z]) + + # --- Écriture JSONL --- + with open(jsonl_path, "w") as f: + for rec in records: + f.write(json.dumps(rec) + "\n") + + # --- Vérité terrain CSV --- + with open(truth_path, "w", newline="") as f: + writer = csv.writer(f) + writer.writerow(["t", "x", "y", "heading_deg", "z"]) + for row in truth_rows: + writer.writerow([f"{v:.6f}" for v in row]) + + size_mb = os.path.getsize(jsonl_path) / 1e6 + print(f"JSONL : {jsonl_path} ({size_mb:.2f} Mo, {len(records)} lignes)") + print(f"Truth : {truth_path} ({len(truth_rows)} lignes)") + + +# --------------------------------------------------------------------------- +# CLI +# --------------------------------------------------------------------------- +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Simulateur capteurs moulin-mapper") + parser.add_argument("--out-dir", default="../data/sim") + parser.add_argument("--sweep-period", type=float, default=4.0, + help="Durée d'un sweep Ping360 complet (s)") + parser.add_argument("--dt", type=float, default=0.05, + help="Pas de temps simulation (s)") + parser.add_argument("--seed", type=int, default=42) + args = parser.parse_args() + + simulate( + out_dir=args.out_dir, + sweep_period=args.sweep_period, + dt=args.dt, + rng_seed=args.seed, + ) diff --git a/pipeline/slam.py b/pipeline/slam.py new file mode 100644 index 0000000..5fc349f --- /dev/null +++ b/pipeline/slam.py @@ -0,0 +1,358 @@ +""" +slam.py — Dead-reckoning + Scan-matching ICP 2D + fermeture de boucle. + +Modules réutilisables importés par process.py. +Dépendances : numpy, scipy uniquement. +""" + +import numpy as np +from scipy.spatial import cKDTree +from typing import List, Optional, Tuple, Dict +from collections import deque + + +# --------------------------------------------------------------------------- +# Dead-reckoning (intégration IMU + heading) +# --------------------------------------------------------------------------- + +class DeadReckoning: + """ + Dead-reckoning ROV 2D : heading (magnéto + gyro) + vitesse odométrique. + + Modèle réaliste pour BlueROV sans DVL/GPS dans une chambre de moulin : + + Heading : fusion magnéto + gz par filtre complémentaire + h_dr = alpha * (h_magneto) + (1-alpha) * (h_gyro_integré) + → alpha = 0.3 : le magnéto corrige lentement, le gyro intègre rapidement + → source de dérive : biais gz (0.003 rad/s) qui déplace h_gyro + → sur 120s : dérive cumulée ~4° → erreur transverse ~1-2 m à 0.3 m/s + + Vitesse forward : estimée depuis ax par intégration sur fenêtre glissante + → biais ax (0.015 m/s²) intégré → erreur de vitesse → dérive position + → en pratique : v_dr ≠ v_vraie d'environ ±0.05 m/s + + Résultat : DR dérive de 1-4 m sur 120s → ICP Ping360 corrige à chaque sweep. + """ + + def __init__(self, alpha_magneto: float = 0.3, tau: float = 2.0): + """ + alpha_magneto : poids du magnéto dans la fusion heading [0,1]. + 0 = gyro pur (max dérive), 1 = magnéto pur (pas de dérive). + 0.3 = compromis réaliste (magnéto perturbé par métaux du moulin). + tau : constante de temps amortissement vitesse (s). + """ + self.x = 0.0 + self.y = 0.0 + self.h_gyro = 0.0 # heading intégré depuis gz + self.heading_deg = 0.0 # heading fusionné + self.vf = 0.0 # vitesse forward estimée (corps, m/s) + self.vl = 0.0 # vitesse latérale estimée (corps, m/s) + self.t_prev = None + self.alpha = alpha_magneto + self.tau = tau + + def reset(self, x: float = 0.0, y: float = 0.0, heading_deg: float = 0.0): + self.x = x + self.y = y + self.h_gyro = heading_deg + self.heading_deg = heading_deg + self.vf = 0.0 + self.vl = 0.0 + self.t_prev = None + + def update(self, t: float, heading_deg: float, + ax: float, ay: float, az: float, + gz: float = 0.0, + vf: float = None, vl: float = 0.0) -> Tuple[float, float, float]: + """ + heading_deg : cap magnéto (bruité + dérive lente). + gz : taux de lacet (rad/s), biaisé → dérive h_gyro. + ax, ay : accélérations corps (option : non utilisées si vf fourni). + vf, vl : vitesse corps forward/latérale mesurée (m/s). + Si vf=None, on intègre ax (dérive plus rapide). + + Sources de dérive DR : + - biais gz → h_gyro dérive → mauvaise direction + - biais vf → position dérive dans la mauvaise direction + → ICP corrige ces deux erreurs à chaque sweep + """ + if self.t_prev is None: + self.t_prev = t + self.h_gyro = heading_deg + self.heading_deg = heading_deg + return self.x, self.y, self.heading_deg + + dt = t - self.t_prev + if dt <= 0: + return self.x, self.y, self.heading_deg + self.t_prev = t + + # --- Heading : filtre complémentaire gyro (principal) + magnéto (lent) --- + # Intégration gz biaisée → h_gyro dérive + self.h_gyro = (self.h_gyro + np.rad2deg(gz) * dt) % 360 + # Correction magnéto partielle (α faible = magnéto peu fiable dans moulin métallique) + dh = ((heading_deg - self.h_gyro + 180) % 360) - 180 + self.h_gyro = (self.h_gyro + self.alpha * dh) % 360 + self.heading_deg = self.h_gyro + + # --- Vitesse : utilise vf/vl si disponible, sinon intègre ax/ay --- + if vf is not None: + # Vitesse mesurée (biaisée) — source de dérive : biais vf + self.vf = vf + self.vl = vl + else: + # Intégration accéléro (dérive plus rapide) + decay = np.exp(-dt / self.tau) + self.vf = self.vf * decay + ax * dt + self.vl = self.vl * decay + ay * dt + + # --- Projection vitesse corps → monde --- + h_rad = np.deg2rad(self.heading_deg) + # avant ROV = (sin h, cos h) en ENU ; gauche = (-cos h, sin h) + vx = self.vf * np.sin(h_rad) - self.vl * np.cos(h_rad) + vy = self.vf * np.cos(h_rad) + self.vl * np.sin(h_rad) + + self.x += vx * dt + self.y += vy * dt + + return self.x, self.y, self.heading_deg + + +# --------------------------------------------------------------------------- +# Gestion des sweeps Ping360 +# --------------------------------------------------------------------------- + +class SweepAccumulator: + """ + Regroupe les faisceaux Ping360 en sweeps complets (0→360°). + Un nouveau sweep démarre quand l'angle fait un tour complet. + """ + + def __init__(self, steps: int = 400): + self.steps = steps + self.current_sweep: List[Dict] = [] + self.last_angle = None + self.sweeps_done = 0 + + def add_beam(self, angle_deg: float, distance: float, pose: Tuple[float, float, float]) -> Optional[List[Dict]]: + """ + Ajoute un faisceau. Si le sweep est complet (retour à 0°), retourne le sweep + et commence le suivant. Sinon retourne None. + + pose = (x, y, heading_deg) + Fonctionne quel que soit le pas angulaire (1 pas ou 4.5° par record). + """ + beam = {"angle_deg": angle_deg, "distance": distance, "pose": pose} + + # Détection fermeture de sweep : l'angle repasse vers 0 après avoir été >180 + if (self.last_angle is not None + and self.last_angle > 180 + and angle_deg < 90): + # Sweep complet — seuil minimal : au moins 20 faisceaux (tolère grand pas angulaire) + completed = self.current_sweep.copy() + self.current_sweep = [beam] + self.last_angle = angle_deg + self.sweeps_done += 1 + if len(completed) >= 20: + return completed + return None + + self.current_sweep.append(beam) + self.last_angle = angle_deg + return None + + +def sweep_to_world_points(sweep: List[Dict]) -> np.ndarray: + """ + Convertit un sweep (liste de faisceaux) en points murs dans le repère monde. + Retourne un array (M, 2) de points (x, y), dropouts exclus. + """ + points = [] + for beam in sweep: + d = beam["distance"] + if d <= 0.01: + continue # dropout + + angle_rel = beam["angle_deg"] + px, py, hdg = beam["pose"] + + # angle monde = cap + angle_relatif (convention cap 0=Nord, CW) + angle_world = (hdg + angle_rel) % 360.0 + a_rad = np.deg2rad(angle_world) + + # Direction en ENU : cap 0°=+Y, 90°=+X + wx = px + d * np.sin(a_rad) + wy = py + d * np.cos(a_rad) + points.append([wx, wy]) + + if not points: + return np.zeros((0, 2)) + return np.array(points) + + +# --------------------------------------------------------------------------- +# ICP 2D scan-to-map +# --------------------------------------------------------------------------- + +def icp_2d( + source_pts: np.ndarray, + map_pts: np.ndarray, + max_iter: int = 20, + tol: float = 1e-4, + max_dist: float = 0.5, +) -> Tuple[float, float, float, bool]: + """ + ICP 2D : recale source_pts sur map_pts. + Retourne (dx, dy, d_heading_rad, converged). + + Algorithme : + 1. Pour chaque point source, chercher le plus proche dans map (cKDTree) + 2. Estimer la transformation rigide 2D (rotation + translation) via SVD + 3. Appliquer et itérer jusqu'à convergence + """ + if len(source_pts) < 5 or len(map_pts) < 5: + return 0.0, 0.0, 0.0, False + + src = source_pts.copy() + tree = cKDTree(map_pts) + + dx_total = 0.0 + dy_total = 0.0 + dtheta_total = 0.0 + + for iteration in range(max_iter): + # Nearest-neighbor + dists, idxs = tree.query(src, k=1, workers=-1) + + # Filtrer les appariements trop lointains + mask = dists < max_dist + if mask.sum() < 5: + return dx_total, dy_total, dtheta_total, False + + src_m = src[mask] + dst_m = map_pts[idxs[mask]] + + # Centroïdes + c_src = src_m.mean(axis=0) + c_dst = dst_m.mean(axis=0) + + # Matrices centrées + A = src_m - c_src + B = dst_m - c_dst + + # SVD pour trouver la rotation 2D optimale + H = A.T @ B + U, S, Vt = np.linalg.svd(H) + R = Vt.T @ U.T + + # Assure det(R) = +1 (rotation pure, pas de réflexion) + if np.linalg.det(R) < 0: + Vt[-1, :] *= -1 + R = Vt.T @ U.T + + t = c_dst - R @ c_src + + # Appliquer la transformation au nuage source + src = (R @ src.T).T + t + + # Accumuler la transformation totale + dx_total += t[0] + dy_total += t[1] + dtheta_total += np.arctan2(R[1, 0], R[0, 0]) + + # Convergence + if np.abs(t).max() < tol and abs(np.arctan2(R[1, 0], R[0, 0])) < tol: + return dx_total, dy_total, dtheta_total, True + + return dx_total, dy_total, dtheta_total, True + + +# --------------------------------------------------------------------------- +# Carte globale incrémentale +# --------------------------------------------------------------------------- + +class IncrementalMap: + """ + Carte 2D des murs, stockée comme nuage de points. + Décimation par voxel pour éviter la croissance infinie. + """ + + def __init__(self, voxel_size: float = 0.05): + self.points: List[np.ndarray] = [] + self.voxel_size = voxel_size + self._voxel_set = set() + + def add_points(self, pts: np.ndarray) -> None: + """Ajoute des points, en filtrant les doublons par voxel.""" + for pt in pts: + key = (int(pt[0] / self.voxel_size), int(pt[1] / self.voxel_size)) + if key not in self._voxel_set: + self._voxel_set.add(key) + self.points.append(pt) + + def get_array(self) -> np.ndarray: + if not self.points: + return np.zeros((0, 2)) + return np.array(self.points) + + def __len__(self): + return len(self.points) + + +# --------------------------------------------------------------------------- +# Détection et correction de fermeture de boucle +# --------------------------------------------------------------------------- + +class LoopClosureDetector: + """ + Détecte quand le ROV revient près d'une zone déjà visitée. + Stratégie simple : on compare la position courante aux positions passées. + Si distance < seuil et qu'un temps minimum s'est écoulé → boucle détectée. + """ + + def __init__(self, min_time: float = 15.0, dist_thresh: float = 0.8): + self.min_time = min_time # on ne cherche pas dans les N dernières secondes + self.dist_thresh = dist_thresh + self.history: List[Tuple[float, float, float, int]] = [] # (t, x, y, sweep_idx) + + def add_pose(self, t: float, x: float, y: float, sweep_idx: int) -> None: + self.history.append((t, x, y, sweep_idx)) + + def check(self, t: float, x: float, y: float) -> Optional[int]: + """ + Retourne l'index sweep de la pose passée si boucle détectée, sinon None. + """ + for (t_old, x_old, y_old, idx_old) in self.history: + if t - t_old < self.min_time: + continue + dist = np.sqrt((x - x_old)**2 + (y - y_old)**2) + if dist < self.dist_thresh: + return idx_old + return None + + +def apply_loop_closure( + trajectory: List[Tuple[float, float, float, float]], # (t, x, y, h) + loop_start_idx: int, + loop_end_idx: int, + correction: np.ndarray, # [dx, dy] +) -> List[Tuple[float, float, float, float]]: + """ + Redistribue linéairement la correction de fermeture de boucle + sur les poses entre loop_start_idx et loop_end_idx. + + C'est une simplification de la correction graph-SLAM (pas de g2o). + """ + n_loop = loop_end_idx - loop_start_idx + if n_loop <= 0: + return trajectory + + corrected = list(trajectory) + for i in range(loop_start_idx, loop_end_idx + 1): + alpha = (i - loop_start_idx) / n_loop + t, x, y, h = corrected[i] + corrected[i] = (t, + x + alpha * correction[0], + y + alpha * correction[1], + h) + return corrected diff --git a/pipeline/stream_replay.py b/pipeline/stream_replay.py new file mode 100644 index 0000000..183ce40 --- /dev/null +++ b/pipeline/stream_replay.py @@ -0,0 +1,80 @@ +""" +stream_replay.py — Rejoue un fichier JSONL sur stdout avec timing optionnel. + +Simule le streaming live d'un capteur ROV. +Peut se chaîner avec process.py : + python3 stream_replay.py | python3 process.py --stdin + python3 stream_replay.py --realtime | python3 process.py --stdin + +Usage : + python3 stream_replay.py [--input ../data/sim/run_L.jsonl] [--realtime] [--speed 10.0] +""" + +import argparse +import json +import sys +import time +import os + + +def replay( + input_path: str, + realtime: bool = False, + speed: float = 1.0, + output=None, +): + """ + Lit le JSONL et écrit sur stdout (ou output) ligne par ligne. + Si realtime=True, attend le bon délai entre les lignes. + speed > 1 accélère le replay (utile pour tests). + """ + if output is None: + output = sys.stdout + + prev_t = None + n = 0 + + with open(input_path) as f: + for line in f: + line = line.strip() + if not line: + continue + + if realtime: + try: + rec = json.loads(line) + t = rec.get("t", 0.0) + if prev_t is not None: + dt = (t - prev_t) / speed + if dt > 0: + time.sleep(dt) + prev_t = t + except json.JSONDecodeError: + pass + + output.write(line + "\n") + output.flush() + n += 1 + + # Signal de fin (ligne vide → process.py ignore) + sys.stderr.write(f"[stream_replay] {n} lignes émises\n") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Replay JSONL stream") + parser.add_argument("--input", default="../data/sim/run_L.jsonl") + parser.add_argument("--realtime", action="store_true", + help="Respecter les délais temporels") + parser.add_argument("--speed", type=float, default=1.0, + help="Facteur d'accélération (ex: 10 = 10x plus rapide)") + args = parser.parse_args() + + if not os.path.exists(args.input): + sys.stderr.write(f"ERREUR : fichier introuvable : {args.input}\n") + sys.exit(1) + + replay( + input_path=args.input, + realtime=args.realtime, + speed=args.speed, + )