6e83bbd73f
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>
1.1 KiB
1.1 KiB
| 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 |