init: structure projet SLAM stéréo BlueOS

.gitignore

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+# Python
+__pycache__/
+*.py[cod]
+*.pyo
+*.pyd
+.Python
+*.egg
+*.egg-info/
+dist/
+build/
+eggs/
+parts/
+var/
+sdist/
+develop-eggs/
+.installed.cfg
+lib/
+lib64/
+*.so
+.env
+.venv
+env/
+venv/
+ENV/
+pip-log.txt
+pip-delete-this-directory.txt
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.log
+.pytest_cache/
+.mypy_cache/
+
+# ROS2
+*.pyc
+log/
+install/
+build/
+.colcon_install_layout
+
+# Datasets (trop lourds pour git)
+datasets/*
+!datasets/.gitkeep
+!datasets/README.md
+
+# Calibration output (généré)
+config/stereo_calib.yaml
+
+# Sphinx build
+docs/build/
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+
+# OS
+.DS_Store
+Thumbs.db
+desktop.ini
+
+# Docker
+.dockerignore
+
+# Logs
+*.log

LICENSE

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+MIT License
+
+Copyright (c) 2026 Baptiste Moulin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# SLAM Stéréo BlueOS — AUV Sous-Marin Autonome
+
+SLAM visuel stéréo pour drone sous-marin (AUV) intégré BlueOS.
+Stack: ORB-SLAM3 + ROS2 Humble + Python + Flask.
+
+## Objectifs
+
+- Localisation et cartographie 3D temps réel en milieu sous-marin
+- Portée cible : **0.5 m – 5 m** (visibilité eau douce/mer côtière)
+- Baseline stéréo : **11 cm** (médiane 10-12 cm optimale)
+- Déploiement : Raspberry Pi 4B sous BlueOS (Docker extension)
+- Interface web Flask pour monitoring et calibration
+
+## Hardware
+
+| Composant | Modèle | Quantité |
+|-----------|--------|----------|
+| SBC | Raspberry Pi 4B (4 GB) | 1 |
+| Caméra gauche | Microsoft LifeCam HD-3000 | 1 |
+| Caméra droite | Microsoft LifeCam HD-3000 | 1 |
+| IMU | À définir (MPU-6050 ou ICM-20689) | 1 |
+| Support | Impression 3D PETG (voir /hardware/) | 1 |
+
+## Schéma Baseline Stéréo
+
+```
+         CAMÉRA GAUCHE          CAMÉRA DROITE
+              |                       |
+              |<------- B = 11cm ----->|
+              |                       |
+         _____|_____             _____|_____
+        |  [o]  f  |           |  f  [o]  |
+        |___________|           |___________|
+              |                       |
+              |         AUV           |
+              |_______________________|
+
+  Z_max = f * B / d_min
+        = 525 px * 0.11 m / 1 px
+        ≈ 57.75 m  (théorique, ~5 m pratique sous-marin)
+
+  Z_min = f * B / d_max
+        = 525 * 0.11 / 64
+        ≈ 0.9 m
+```
+
+## Quick Start
+
+### 1. Calibration stéréo (PC)
+
+```bash
+# Capturer les paires de damier
+python src/calibration/stereo_capture.py
+
+# Calibrer
+python src/calibration/stereo_calibrate.py
+# → génère config/stereo_calib.yaml
+```
+
+### 2. Déploiement Pi
+
+```bash
+bash scripts/deploy_pi.sh <IP_DU_PI>
+```
+
+### 3. Interface web
+
+```bash
+cd src/interface && python app.py
+# → http://localhost:5000
+```
+
+### 4. Documentation Sphinx
+
+```bash
+pip install sphinx sphinx-rtd-theme sphinxcontrib-bibtex myst-parser
+sphinx-build -b html docs/source docs/build
+# → ouvrir docs/build/index.html
+```
+
+## Structure
+
+```
+SLAM_Stereo_BlueOS/
+├── src/
+│   ├── calibration/     # Calibration stéréo OpenCV
+│   ├── slam/            # Wrapper ORB-SLAM3
+│   └── interface/       # Flask web UI
+├── docs/                # Sphinx documentation
+├── hardware/            # OpenSCAD support caméras
+├── datasets/            # (gitignored — trop lourds)
+├── scripts/             # Deploy SSH Pi
+├── config/              # YAML calibration + params
+└── Dockerfile           # BlueOS extension
+```
+
+## Dépendances Python
+
+```
+opencv-python>=4.8
+flask>=3.0
+numpy>=1.24
+pyyaml>=6.0
+```
+
+## Licence
+
+MIT — Baptiste Moulin 2026