38 lines
1.0 KiB
YAML
38 lines
1.0 KiB
YAML
# QA thresholds — tuned from iteration cron
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usbl:
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min_points_per_segment: 5 # fewer → degraded
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max_gap_seconds: 30 # gap > this → split segment
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mad_sigma: 3.0 # MAD outlier threshold
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moving_avg_window: 5 # smoothing window
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ingest:
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min_video_seconds: 120 # shorter segments skipped
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max_timestamp_delta_seconds: 60 # EXIF vs USBL match tolerance
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frame_extract:
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fps: 1
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width: 518
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height: 294
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underwater_r_minus_g: 5 # R < G-5 AND R < B-5 → hors eau
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trim_min_frames: 8 # skip if fewer underwater frames
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inference:
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ply_conf_threshold: 1.5
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max_frame_num: 1024
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mode: streaming
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keyframe_interval: 6
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align:
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max_translation_m: 500 # sanity check on alignment
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min_inlier_ratio: 0.3 # umeyama inlier ratio
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stitch:
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voxel_size: 0.05
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icp_max_distance: 0.5
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icp_iterations: 50
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use_ransac: true
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ransac_iterations: 100000
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frame_extract:
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bottom_visible_pct_min: 30 # abaissé de 50 à 30 — avg réel = 37.5%, iter auto 2026-05-11
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