Add Localization History & Pose Visualization to Dreamview

[Copilot]

Adds a toggleable "Pose History" layer to Dreamview's 3D scene: a TF-style axes helper at the current vehicle pose, plus fading breadcrumb trails for both the LiDAR and GNSS localizations to surface drift between the two sources.

New renderer: src/renderer/localization_history.js

• RingBuffer — fixed-capacity circular buffer (600 slots = 60 s × 10 Hz); overwrites oldest entries in-place
• Trail lines — two pre-allocated THREE.BufferGeometry / Float32Array lines; vertex brightness fades 0 → 1 from oldest to newest point:
  • LiDAR / main localization → light blue
  • GNSS / shadow localization → orange
• THREE.AxesHelper — positioned and rotated to the current ADC pose each frame (X=red, Y=green, Z=blue)
• 10 Hz downsampling — timestamp guard (Date.now() delta ≥ 100 ms) before pushing to either buffer
• Visibility controlled by STORE.options.showPoseHistory

Configuration & menu wiring

• src/store/config/MenuData.js — adds positionPoseHistory: 'Pose History' checkbox to the Position section
• src/store/config/parameters.yml + config/parameters.js — registers showPoseHistory option (default: false, menuId: positionPoseHistory)

Renderer integration (src/renderer/index.js)

this.localizationHistory = new LocalizationHistory();
// …
this.localizationHistory.update(world, this.coordinates, this.scene);

Called after gnss.update and map.update in updateWorld().

Warning

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Original prompt

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This section details on the original issue you should resolve

<issue_title>Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview.</issue_title>
<issue_description>Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview.

Requirement 1: TF-style Pose Display

• Goal: Render a 3D coordinate frame (X-red, Y-green, Z-blue) at the vehicle's current location.
• Input: apollo.localization.LocalizationEstimate (contains pose.position and pose.orientation).
• UI: Use Three.js AxesHelper or a custom Shader to represent the orientation.

Requirement 2: Historical Trajectory (Breadcrumbs)

• Goal: Store and render the past $N$ seconds (e.g., 60s) of localization points.
• Buffer: Implement a ring buffer to store (x, y, z) coordinates to prevent memory leaks.
• Visualization: * Use a Line or Points object in Three.js.
• Fade Effect: Apply vertex colors where alpha decreases as the point gets older.
• Comparison: Allow overlaying "LiDAR Localization" vs "GNSS-only" trajectories in different colors to spot drifts.

Requirement 3: Performance & Toggle

• Provide a toggle in the Layer Menu to enable/disable "Pose History".
• Downsample the history (e.g., only record at 10Hz even if localization is at 100Hz) to save GPU resources.
  </issue_description>

<agent_instructions>Task: Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview.

Requirement 1: TF-style Pose Display

• Goal: Render a 3D coordinate frame (X-red, Y-green, Z-blue) at the vehicle's current location.
• Input: apollo.localization.LocalizationEstimate (contains pose.position and pose.orientation).
• UI: Use Three.js AxesHelper or a custom Shader to represent the orientation.

Requirement 2: Historical Trajectory (Breadcrumbs)

• Goal: Store and render the past $N$ seconds (e.g., 60s) of localization points.
• Buffer: Implement a ring buffer to store (x, y, z) coordinates to prevent memory leaks.
• Visualization: * Use a Line or Points object in Three.js.
• Fade Effect: Apply vertex colors where alpha decreases as the point gets older.
• Comparison: Allow overlaying "LiDAR Localization" vs "GNSS-only" trajectories in different colors to spot drifts.

Requirement 3: Performance & Toggle

• Provide a toggle in the Layer Menu to enable/disable "Pose History".
• Downsample the history (e.g., only record at 10Hz even if localization is at 100Hz) to save GPU resources.
  </agent_instructions>

Comments on the Issue (you are @copilot in this section)

• Fixes Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview. #5

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