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.
59 lines
1.5 KiB
YAML
59 lines
1.5 KiB
YAML
# Default params per stage — overridable per-run via CLI or cron patch
|
|
stage_01_ingest:
|
|
gap_min: 5 # minutes gap to split segment
|
|
ssd_root: /mnt/ssd
|
|
output_dir: /home/cosma/cosma-pipeline
|
|
|
|
stage_02_usbl_parse:
|
|
# USBL log/ CSVs are raw serial frames — real nav is in bag/*.mcap
|
|
# This stage parses MCAP bag files for USBL/nav topics
|
|
mcap_topics:
|
|
- /usbl/position
|
|
- /usbl/fix
|
|
- /navigation/position
|
|
- /bluerov/usbl
|
|
- /waterlinked/position
|
|
fallback_csv_serial: true # try to decode serial bytes if no mcap topic
|
|
output_format: parquet # or csv
|
|
|
|
stage_03_usbl_filter:
|
|
method: mad # mad | kalman_simple
|
|
mad_sigma: 3.0
|
|
moving_avg_window: 5
|
|
|
|
stage_04_frame_extract:
|
|
fps: 1
|
|
width: 518
|
|
height: 294
|
|
trim_hors_eau: true
|
|
|
|
stage_05_inference:
|
|
workers:
|
|
- host: 192.168.0.87
|
|
user: floppyrj45
|
|
gpu: "RTX 3060 12GB"
|
|
vram_mib: 11913
|
|
lingbot_path: /home/floppyrj45/ai-video/lingbot-map
|
|
frames_dir: /home/floppyrj45/cosma-pipeline-frames
|
|
- host: 192.168.0.84
|
|
user: root
|
|
gpu: "RTX 3090 24GB"
|
|
vram_mib: 24576
|
|
lingbot_path: /root/ai-video/lingbot-map
|
|
frames_dir: /root/cosma-pipeline-frames
|
|
model_path: /home/floppyrj45/ai-video/lingbot-map/checkpoints/lingbot_map.pt
|
|
mode: streaming
|
|
keyframe_interval: 6
|
|
|
|
stage_06_align:
|
|
use_imu_heading: true
|
|
use_depth: true
|
|
|
|
stage_07_stitch_per_auv:
|
|
voxel_size: 0.05
|
|
use_ransac: true
|
|
|
|
stage_08_stitch_cross_auv:
|
|
voxel_size: 0.1
|
|
final_icp: true
|