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/pyproject.toml

@@ -0,0 +1,21 @@
+[project]
+name = "cosma-pipeline"
+version = "0.1.0"
+description = "COSMA autonomous reconstruction pipeline"
+requires-python = ">=3.11"
+dependencies = [
+  "pandas>=2.0",
+  "scipy>=1.11",
+  "numpy>=1.26",
+  "fastapi>=0.115",
+  "uvicorn[standard]>=0.30",
+  "sqlmodel>=0.0.18",
+  "pyyaml>=6.0",
+  "tqdm>=4.66",
+  "open3d>=0.18",
+  "mcap>=1.1",
+  "mcap-ros2-support>=0.5",
+]
+
+[tool.uv]
+package = false