feat(moulin-mapper): simulateur capteurs + pipeline SLAM Python (JSONL stream → trajectoire + nuage .ply)

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- 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)

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2026-06-06 20:01:22 +00:00

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