| |
| """Generate one offline HTML page comparing tracking and RTK trajectories.""" |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| import csv |
| import html |
| import math |
| from dataclasses import dataclass |
| from pathlib import Path |
|
|
| import plotly.graph_objects as go |
| import plotly.io as pio |
| from plotly.subplots import make_subplots |
|
|
|
|
| EXPECTED_FLIGHTS = tuple(f"flight_{index:02d}" for index in range(1, 17)) |
| RTK_COLOR = "#16803c" |
| TRACKING_COLOR = "#d44a3a" |
| VEHICLE_COLOR = "#24527a" |
| GRID_COLOR = "#dfe5e8" |
| TEXT_COLOR = "#243238" |
| MINIMUM_AXIS_DISPLAY_RATIO = 0.30 |
|
|
|
|
| @dataclass |
| class Trajectory: |
| flight_id: str |
| timestamp_us: list[int] |
| tracking_x_m: list[float] |
| tracking_y_m: list[float] |
| tracking_z_m: list[float] |
| rtk_x_m: list[float] |
| rtk_y_m: list[float] |
| rtk_z_m: list[float] |
| error_3d_m: list[float] |
|
|
| @property |
| def relative_time_s(self) -> list[float]: |
| first = self.timestamp_us[0] |
| return [(value - first) / 1e6 for value in self.timestamp_us] |
|
|
| @property |
| def rmse_3d_m(self) -> float: |
| return math.sqrt( |
| math.fsum(value * value for value in self.error_3d_m) |
| / len(self.error_3d_m) |
| ) |
|
|
|
|
| def parse_args() -> argparse.Namespace: |
| script_dir = Path(__file__).resolve().parent |
| default_root = script_dir.parent |
| parser = argparse.ArgumentParser( |
| description="生成全部航次识别轨迹与 RTK 轨迹的离线 HTML" |
| ) |
| parser.add_argument( |
| "dataset_root", |
| nargs="?", |
| type=Path, |
| default=default_root, |
| help="数据集根目录；默认根据脚本位置确定", |
| ) |
| parser.add_argument( |
| "--input", |
| type=Path, |
| help="轨迹 CSV；默认为 DATASET_ROOT/script/output/paired_errors.csv", |
| ) |
| parser.add_argument( |
| "--output", |
| type=Path, |
| help="HTML 路径；默认为 DATASET_ROOT/script/output/trajectories.html", |
| ) |
| return parser.parse_args() |
|
|
|
|
| def finite_float(row: dict[str, str], key: str, line_number: int) -> float: |
| try: |
| value = float(row[key]) |
| except (KeyError, TypeError, ValueError) as error: |
| raise ValueError(f"第 {line_number} 行的 {key} 无法解析") from error |
| if not math.isfinite(value): |
| raise ValueError(f"第 {line_number} 行的 {key} 不是有限数") |
| return value |
|
|
|
|
| def empty_trajectory(flight_id: str) -> Trajectory: |
| return Trajectory( |
| flight_id=flight_id, |
| timestamp_us=[], |
| tracking_x_m=[], |
| tracking_y_m=[], |
| tracking_z_m=[], |
| rtk_x_m=[], |
| rtk_y_m=[], |
| rtk_z_m=[], |
| error_3d_m=[], |
| ) |
|
|
|
|
| def read_trajectories(path: Path) -> list[Trajectory]: |
| required_columns = { |
| "flight_id", |
| "timestamp_us", |
| "tracking_x_v_m", |
| "tracking_y_v_m", |
| "tracking_z_v_m", |
| "reference_x_v_m", |
| "reference_y_v_m", |
| "reference_z_v_m", |
| "error_3d_m", |
| } |
| grouped: dict[str, Trajectory] = {} |
| with path.open("r", encoding="utf-8", newline="") as stream: |
| reader = csv.DictReader(stream) |
| fieldnames = set(reader.fieldnames or ()) |
| missing = sorted(required_columns - fieldnames) |
| if missing: |
| raise ValueError(f"{path} 缺少字段：{', '.join(missing)}") |
| for line_number, row in enumerate(reader, start=2): |
| flight_id = row["flight_id"] |
| if flight_id not in EXPECTED_FLIGHTS: |
| raise ValueError(f"第 {line_number} 行包含未知航次：{flight_id}") |
| trajectory = grouped.setdefault( |
| flight_id, empty_trajectory(flight_id) |
| ) |
| try: |
| timestamp_us = int(row["timestamp_us"]) |
| except (TypeError, ValueError) as error: |
| raise ValueError( |
| f"第 {line_number} 行的 timestamp_us 无法解析" |
| ) from error |
| trajectory.timestamp_us.append(timestamp_us) |
| trajectory.tracking_x_m.append( |
| finite_float(row, "tracking_x_v_m", line_number) |
| ) |
| trajectory.tracking_y_m.append( |
| finite_float(row, "tracking_y_v_m", line_number) |
| ) |
| trajectory.tracking_z_m.append( |
| finite_float(row, "tracking_z_v_m", line_number) |
| ) |
| trajectory.rtk_x_m.append( |
| finite_float(row, "reference_x_v_m", line_number) |
| ) |
| trajectory.rtk_y_m.append( |
| finite_float(row, "reference_y_v_m", line_number) |
| ) |
| trajectory.rtk_z_m.append( |
| finite_float(row, "reference_z_v_m", line_number) |
| ) |
| trajectory.error_3d_m.append( |
| finite_float(row, "error_3d_m", line_number) |
| ) |
|
|
| missing_flights = sorted(set(EXPECTED_FLIGHTS) - set(grouped)) |
| if missing_flights: |
| raise ValueError(f"{path} 缺少航次：{', '.join(missing_flights)}") |
|
|
| trajectories = [grouped[flight_id] for flight_id in EXPECTED_FLIGHTS] |
| for trajectory in trajectories: |
| if len(trajectory.timestamp_us) < 2: |
| raise ValueError(f"{trajectory.flight_id} 的有效轨迹点不足 2 个") |
| order = sorted( |
| range(len(trajectory.timestamp_us)), |
| key=trajectory.timestamp_us.__getitem__, |
| ) |
| for field_name in ( |
| "timestamp_us", |
| "tracking_x_m", |
| "tracking_y_m", |
| "tracking_z_m", |
| "rtk_x_m", |
| "rtk_y_m", |
| "rtk_z_m", |
| "error_3d_m", |
| ): |
| values = getattr(trajectory, field_name) |
| setattr(trajectory, field_name, [values[index] for index in order]) |
| return trajectories |
|
|
|
|
| def scene_aspect_ratio(trajectory: Trajectory) -> dict[str, float]: |
| coordinates = ( |
| trajectory.tracking_x_m + trajectory.rtk_x_m + [0.0], |
| trajectory.tracking_y_m + trajectory.rtk_y_m + [0.0], |
| trajectory.tracking_z_m + trajectory.rtk_z_m + [0.0], |
| ) |
| spans = [max(values) - min(values) for values in coordinates] |
| maximum_span = max(spans) |
| if maximum_span <= 0.0: |
| return {"x": 1.0, "y": 1.0, "z": 1.0} |
| ratios = [ |
| max(span / maximum_span, MINIMUM_AXIS_DISPLAY_RATIO) |
| for span in spans |
| ] |
| return {"x": ratios[0], "y": ratios[1], "z": ratios[2]} |
|
|
|
|
| def build_overview(trajectories: list[Trajectory]) -> go.Figure: |
| rows = 4 |
| columns = 4 |
| titles = [ |
| ( |
| f"<b>{trajectory.flight_id}</b>" |
| f" · RMSE {trajectory.rmse_3d_m:.3f} m" |
| ) |
| for trajectory in trajectories |
| ] |
| figure = make_subplots( |
| rows=rows, |
| cols=columns, |
| specs=[ |
| [{"type": "scene"} for _ in range(columns)] |
| for _ in range(rows) |
| ], |
| subplot_titles=titles, |
| horizontal_spacing=0.035, |
| vertical_spacing=0.065, |
| ) |
|
|
| for index, trajectory in enumerate(trajectories): |
| row = index // columns + 1 |
| column = index % columns + 1 |
| figure.add_trace( |
| go.Scatter3d( |
| x=trajectory.rtk_x_m, |
| y=trajectory.rtk_y_m, |
| z=trajectory.rtk_z_m, |
| mode="lines", |
| line={"color": RTK_COLOR, "width": 6}, |
| name="RTK 轨迹", |
| legendgroup="rtk", |
| showlegend=index == 0, |
| customdata=[ |
| [time_s] |
| for time_s in trajectory.relative_time_s |
| ], |
| hovertemplate=( |
| "<b>RTK</b><br>" |
| "X=%{x:.2f} m<br>Y=%{y:.2f} m<br>Z=%{z:.2f} m<br>" |
| "t=%{customdata[0]:.1f} s<extra></extra>" |
| ), |
| ), |
| row=row, |
| col=column, |
| ) |
| figure.add_trace( |
| go.Scatter3d( |
| x=[0.0], |
| y=[0.0], |
| z=[0.0], |
| mode="markers+text", |
| marker={ |
| "color": VEHICLE_COLOR, |
| "size": 7, |
| "symbol": "diamond", |
| "line": {"color": "#ffffff", "width": 1}, |
| }, |
| text=["车辆原点"], |
| textposition="top center", |
| textfont={"color": VEHICLE_COLOR, "size": 11}, |
| name="车辆原点", |
| legendgroup="vehicle", |
| showlegend=index == 0, |
| hovertemplate=( |
| "<b>车辆原点</b><br>" |
| "X=0.00 m<br>Y=0.00 m<br>Z=0.00 m<extra></extra>" |
| ), |
| ), |
| row=row, |
| col=column, |
| ) |
| figure.add_trace( |
| go.Scatter3d( |
| x=trajectory.tracking_x_m, |
| y=trajectory.tracking_y_m, |
| z=trajectory.tracking_z_m, |
| mode="lines", |
| line={"color": TRACKING_COLOR, "width": 5}, |
| name="识别轨迹", |
| legendgroup="tracking", |
| showlegend=index == 0, |
| customdata=[ |
| [time_s, error_m] |
| for time_s, error_m in zip( |
| trajectory.relative_time_s, |
| trajectory.error_3d_m, |
| ) |
| ], |
| hovertemplate=( |
| "<b>识别</b><br>" |
| "X=%{x:.2f} m<br>Y=%{y:.2f} m<br>Z=%{z:.2f} m<br>" |
| "t=%{customdata[0]:.1f} s<br>" |
| "3D 误差=%{customdata[1]:.3f} m<extra></extra>" |
| ), |
| ), |
| row=row, |
| col=column, |
| ) |
|
|
| for index, trajectory in enumerate(trajectories): |
| scene_name = "scene" if index == 0 else f"scene{index + 1}" |
| figure.layout[scene_name].update( |
| { |
| "xaxis": { |
| "title": "X (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "yaxis": { |
| "title": "Y (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "zaxis": { |
| "title": "Z (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "aspectmode": "manual", |
| "aspectratio": scene_aspect_ratio(trajectory), |
| } |
| ) |
|
|
| figure.update_layout( |
| height=1500, |
| paper_bgcolor="#ffffff", |
| plot_bgcolor="#f8fafb", |
| font={"family": "Arial, sans-serif", "color": TEXT_COLOR}, |
| margin={"l": 20, "r": 20, "t": 72, "b": 25}, |
| legend={ |
| "orientation": "h", |
| "x": 0.5, |
| "xanchor": "center", |
| "y": 1.045, |
| "yanchor": "bottom", |
| }, |
| hovermode="closest", |
| ) |
| return figure |
|
|
|
|
| def build_detail(trajectories: list[Trajectory]) -> go.Figure: |
| figure = go.Figure() |
| for index, trajectory in enumerate(trajectories): |
| visible = index == 0 |
| figure.add_trace( |
| go.Scatter3d( |
| x=trajectory.rtk_x_m, |
| y=trajectory.rtk_y_m, |
| z=trajectory.rtk_z_m, |
| mode="lines", |
| line={"color": RTK_COLOR, "width": 7}, |
| name="RTK 轨迹", |
| legendgroup="rtk", |
| visible=visible, |
| customdata=[ |
| [time_s] |
| for time_s in trajectory.relative_time_s |
| ], |
| hovertemplate=( |
| "<b>RTK</b><br>" |
| "X=%{x:.2f} m<br>Y=%{y:.2f} m<br>Z=%{z:.2f} m<br>" |
| "t=%{customdata[0]:.1f} s<extra></extra>" |
| ), |
| ) |
| ) |
| figure.add_trace( |
| go.Scatter3d( |
| x=[0.0], |
| y=[0.0], |
| z=[0.0], |
| mode="markers+text", |
| marker={ |
| "color": VEHICLE_COLOR, |
| "size": 8, |
| "symbol": "diamond", |
| "line": {"color": "#ffffff", "width": 1}, |
| }, |
| text=["车辆原点"], |
| textposition="top center", |
| textfont={"color": VEHICLE_COLOR, "size": 12}, |
| name="车辆原点", |
| legendgroup="vehicle", |
| visible=visible, |
| hovertemplate=( |
| "<b>车辆原点</b><br>" |
| "X=0.00 m<br>Y=0.00 m<br>Z=0.00 m<extra></extra>" |
| ), |
| ) |
| ) |
| figure.add_trace( |
| go.Scatter3d( |
| x=trajectory.tracking_x_m, |
| y=trajectory.tracking_y_m, |
| z=trajectory.tracking_z_m, |
| mode="lines", |
| line={"color": TRACKING_COLOR, "width": 6}, |
| name="识别轨迹", |
| legendgroup="tracking", |
| visible=visible, |
| customdata=[ |
| [time_s, error_m] |
| for time_s, error_m in zip( |
| trajectory.relative_time_s, |
| trajectory.error_3d_m, |
| ) |
| ], |
| hovertemplate=( |
| "<b>识别</b><br>" |
| "X=%{x:.2f} m<br>Y=%{y:.2f} m<br>Z=%{z:.2f} m<br>" |
| "t=%{customdata[0]:.1f} s<br>" |
| "3D 误差=%{customdata[1]:.3f} m<extra></extra>" |
| ), |
| ) |
| ) |
|
|
| buttons = [] |
| for index, trajectory in enumerate(trajectories): |
| visibility = [ |
| trace_index // 3 == index |
| for trace_index in range(3 * len(trajectories)) |
| ] |
| buttons.append( |
| { |
| "label": trajectory.flight_id, |
| "method": "update", |
| "args": [ |
| {"visible": visibility}, |
| { |
| "title": { |
| "text": ( |
| f"{trajectory.flight_id}" |
| f" · 3D RMSE {trajectory.rmse_3d_m:.3f} m" |
| ), |
| "x": 0.5, |
| }, |
| "scene.aspectmode": "manual", |
| "scene.aspectratio": scene_aspect_ratio(trajectory), |
| }, |
| ], |
| } |
| ) |
|
|
| first = trajectories[0] |
| figure.update_layout( |
| height=720, |
| title={ |
| "text": f"{first.flight_id} · 3D RMSE {first.rmse_3d_m:.3f} m", |
| "x": 0.5, |
| }, |
| paper_bgcolor="#ffffff", |
| font={"family": "Arial, sans-serif", "color": TEXT_COLOR}, |
| margin={"l": 15, "r": 15, "t": 95, "b": 10}, |
| scene={ |
| "xaxis": { |
| "title": "X 前向 (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "yaxis": { |
| "title": "Y 左向 (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "zaxis": { |
| "title": "Z 上向 (m)", |
| "gridcolor": GRID_COLOR, |
| "backgroundcolor": "#f8fafb", |
| }, |
| "aspectmode": "manual", |
| "aspectratio": scene_aspect_ratio(first), |
| }, |
| legend={ |
| "orientation": "h", |
| "x": 0.5, |
| "xanchor": "center", |
| "y": 1.02, |
| "yanchor": "bottom", |
| }, |
| updatemenus=[ |
| { |
| "buttons": buttons, |
| "direction": "down", |
| "showactive": True, |
| "active": 0, |
| "x": 0.01, |
| "xanchor": "left", |
| "y": 1.13, |
| "yanchor": "top", |
| } |
| ], |
| ) |
| return figure |
|
|
|
|
| def write_html( |
| output_path: Path, |
| input_path: Path, |
| trajectories: list[Trajectory], |
| ) -> None: |
| config = { |
| "displaylogo": False, |
| "responsive": True, |
| "scrollZoom": True, |
| "toImageButtonOptions": { |
| "format": "png", |
| "filename": "tracking_rtk_trajectory", |
| "scale": 2, |
| }, |
| } |
| overview_html = pio.to_html( |
| build_overview(trajectories), |
| include_plotlyjs=True, |
| full_html=False, |
| config=config, |
| ) |
| detail_html = pio.to_html( |
| build_detail(trajectories), |
| include_plotlyjs=False, |
| full_html=False, |
| config=config, |
| ) |
| sample_count = sum(len(item.timestamp_us) for item in trajectories) |
| source_name = html.escape(input_path.name) |
| document = f"""<!doctype html> |
| <html lang="zh-CN"> |
| <head> |
| <meta charset="utf-8"> |
| <meta name="viewport" content="width=device-width, initial-scale=1"> |
| <title>识别轨迹与 RTK 轨迹</title> |
| <style> |
| :root {{ |
| color-scheme: light; |
| --ink: {TEXT_COLOR}; |
| --muted: #647278; |
| --line: #dfe5e8; |
| --panel: #ffffff; |
| --page: #f3f6f7; |
| }} |
| * {{ box-sizing: border-box; }} |
| body {{ |
| margin: 0; |
| color: var(--ink); |
| background: var(--page); |
| font-family: Arial, "Microsoft YaHei", sans-serif; |
| }} |
| main {{ width: min(1580px, 100%); margin: 0 auto; padding: 28px; }} |
| header {{ margin: 0 0 18px; }} |
| h1 {{ margin: 0 0 8px; font-size: 28px; letter-spacing: .01em; }} |
| p {{ margin: 0; color: var(--muted); line-height: 1.65; }} |
| .facts {{ display: flex; flex-wrap: wrap; gap: 8px; margin-top: 14px; }} |
| .fact {{ |
| padding: 6px 10px; |
| border: 1px solid var(--line); |
| border-radius: 999px; |
| background: var(--panel); |
| color: #45555c; |
| font-size: 13px; |
| }} |
| section {{ |
| margin-top: 18px; |
| padding: 18px; |
| border: 1px solid var(--line); |
| border-radius: 14px; |
| background: var(--panel); |
| box-shadow: 0 3px 16px rgba(23, 43, 51, .05); |
| }} |
| h2 {{ margin: 0 0 6px; font-size: 18px; }} |
| .plot {{ width: 100%; overflow: hidden; }} |
| footer {{ padding: 16px 2px 0; color: var(--muted); font-size: 12px; }} |
| @media (max-width: 720px) {{ |
| main {{ padding: 14px; }} |
| section {{ padding: 8px; border-radius: 10px; }} |
| h1 {{ font-size: 22px; }} |
| }} |
| </style> |
| </head> |
| <body> |
| <main> |
| <header> |
| <h1>识别轨迹与 RTK 轨迹</h1> |
| <p>绿色为 RTK 轨迹，橙色为识别轨迹，蓝色菱形为车辆原点；小跨度方向采用最低显示厚度，坐标值保持不变。</p> |
| <div class="facts"> |
| <span class="fact">{len(trajectories)} 个航次</span> |
| <span class="fact">{sample_count:,} 个配对点</span> |
| <span class="fact">X 前向 · Y 左向 · Z 上向</span> |
| </div> |
| </header> |
| <section> |
| <h2>全部航次三维轨迹</h2> |
| <div class="plot">{overview_html}</div> |
| </section> |
| <section> |
| <h2>单航次三维查看</h2> |
| <p>通过下拉菜单选择航次，可旋转、缩放并悬停查看坐标。</p> |
| <div class="plot">{detail_html}</div> |
| </section> |
| <footer>数据：{source_name}</footer> |
| </main> |
| </body> |
| </html> |
| """ |
| output_path.parent.mkdir(parents=True, exist_ok=True) |
| output_path.write_text(document, encoding="utf-8") |
|
|
|
|
| def main() -> None: |
| args = parse_args() |
| dataset_root = args.dataset_root.resolve() |
| input_path = ( |
| args.input.resolve() |
| if args.input |
| else dataset_root / "script" / "output" / "paired_errors.csv" |
| ) |
| output_path = ( |
| args.output.resolve() |
| if args.output |
| else dataset_root / "script" / "output" / "trajectories.html" |
| ) |
| if input_path == output_path: |
| raise ValueError("输入 CSV 与输出 HTML 不能是同一文件") |
| trajectories = read_trajectories(input_path) |
| write_html(output_path, input_path, trajectories) |
| print(f"HTML: {output_path}") |
| print( |
| f"航次: {len(trajectories)}, " |
| f"轨迹点: {sum(len(item.timestamp_us) for item in trajectories)}, " |
| f"文件大小: {output_path.stat().st_size / 1024 / 1024:.2f} MiB" |
| ) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
