e597407ee5
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.
35 lines
951 B
YAML
35 lines
951 B
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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