script/generate_trajectory_html.py

#!/usr/bin/env python3
"""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()