85e9a4d4b0
- 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)
2111 lines
33 KiB
CSV
2111 lines
33 KiB
CSV
x,y
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0.0086,4.0225
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0.3247,4.0116
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|
0.6499,4.0646
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0.9531,4.0063
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1.2724,3.9805
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2.3736,4.0023
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3.2934,3.9919
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