feat(pipeline): jalon 1-3 — ingest, USBL parse, filter

Stages 01-03 opérationnels sur 20260505-Lepradet:
- 01_ingest: manifest auto, 3 AUVs vidéo, 3 AUVs bags, mapping AUV2xx↔AUV0xx
- 02_usbl_parse: MCAP (format incompatible firmware) → fallback serial CSV, 213 pts bruts
- 03_usbl_filter: MAD-3σ + moving-avg + Kalman optionnel, dégradé gracieux si null lat/lon
- orchestrator/db.py: SQLite schema missions/jobs/metrics idempotent
- config/: thresholds.yaml + default_params.yaml versionnés
- qa/checks.py: vérifications pass/fail/degraded par étape

Note: MCAP bags corrompus ou format non-standard firmware — lat/lon absent.
Statut degraded (pas crash). Nécessite investigation format MCAP spécifique.

pipeline/config/thresholds.yaml

@@ -0,0 +1,34 @@
+# QA thresholds — tuned from iteration cron
+usbl:
+  min_points_per_segment: 5       # fewer → degraded
+  max_gap_seconds: 30             # gap > this → split segment
+  mad_sigma: 3.0                  # MAD outlier threshold
+  moving_avg_window: 5            # smoothing window
+
+ingest:
+  min_video_seconds: 120          # shorter segments skipped
+  max_timestamp_delta_seconds: 60 # EXIF vs USBL match tolerance
+
+frame_extract:
+  fps: 1
+  width: 518
+  height: 294
+  underwater_r_minus_g: 5        # R < G-5 AND R < B-5 → hors eau
+  trim_min_frames: 8             # skip if fewer underwater frames
+
+inference:
+  ply_conf_threshold: 1.5
+  max_frame_num: 1024
+  mode: streaming
+  keyframe_interval: 6
+
+align:
+  max_translation_m: 500         # sanity check on alignment
+  min_inlier_ratio: 0.3          # umeyama inlier ratio
+
+stitch:
+  voxel_size: 0.05
+  icp_max_distance: 0.5
+  icp_iterations: 50
+  use_ransac: true
+  ransac_iterations: 100000