- Ajoute _load_inference_cfg() qui lit config/thresholds.yaml
- Mode/conf/keyframe_interval/max_frame_num depuis config (streaming par défaut)
- Valide par GX049839_v2: streaming+conf=1.5+kf=1 → 146M pts vs 0 pts en windowed sans conf_threshold
- Ajoute --offload_to_cpu (stable sur RTX 3090 .84)
Stage 04 frame extract:
- New lib_frame_qc.py: per-frame Laplacian/contrast/blue-dominance scoring
- Classes: bottom_visible / water_no_bottom / turbid_water / out_of_water
- Sample 1/5 frames after extraction, write qc.json per segment
- Record metrics (frames_total, frames_bottom_visible, bottom_visible_pct)
- Mark job degraded when bottom_visible_pct < 50%
Per-AUV viser view:
- scripts/viser_auv.py loads all PLYs of an AUV, color per file
- POST /pipeline/missions/{id}/auvs/{auv}/view rsyncs ply -> worker
- launches viser on hashed port 9300+, returns URL
- _pipeline.html exposes AUV list, JS handler opens viser tab
