feat: Dockerfile BlueOS, deploy_pi.sh rsync, camera_mount.scad baseline 110mm

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-19 18:07:28 +02:00
parent f9436df2a0
commit d36255cf62
4 changed files with 229 additions and 0 deletions
--- a/82
+++ b/82
@@ -0,0 +1,82 @@
+# SLAM Stéréo BlueOS — Extension Docker
+# Base: ROS2 Humble (Ubuntu 22.04)
+# ORB-SLAM3 + Flask interface
+
+FROM ros:humble-ros-base AS base
+
+LABEL version="0.1.0"
+LABEL description="SLAM Stéréo visuel pour AUV sous-marin — BlueOS Extension"
+LABEL authors='[{"name": "Baptiste Moulin", "email": "claude@nowyouknow.fr"}]'
+LABEL company='{"about": "AUV SLAM project", "name": "Baptiste Moulin", "email": "claude@nowyouknow.fr"}'
+LABEL type="device-integration"
+LABEL tags='["slam", "stereo", "vision", "auv", "underwater"]'
+LABEL permissions='{"NetworkMode": "host", "Devices": ["/dev/video0", "/dev/video1"], "HostConfig": {"Privileged": false}}'
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=humble
+
+# --- Dépendances système ---
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-opencv \
+    libopencv-dev \
+    cmake \
+    build-essential \
+    git \
+    wget \
+    libssl-dev \
+    libusb-1.0-0-dev \
+    libeigen3-dev \
+    libglew-dev \
+    libpython3-dev \
+    python3-numpy \
+    python3-yaml \
+    # Pangolin deps
+    libgl1-mesa-dev \
+    libglu1-mesa-dev \
+    freeglut3-dev \
+    libwayland-dev \
+    libxkbcommon-dev \
+    wayland-protocols \
+    && rm -rf /var/lib/apt/lists/*
+
+# --- Python dependencies ---
+RUN pip3 install --no-cache-dir \
+    flask>=3.0 \
+    numpy>=1.24 \
+    pyyaml>=6.0 \
+    opencv-python-headless>=4.8
+
+# --- Pangolin (viewer 3D ORB-SLAM3) ---
+RUN git clone --depth 1 https://github.com/stevenlovegrove/Pangolin /opt/Pangolin && \
+    cmake -S /opt/Pangolin -B /opt/Pangolin/build \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DBUILD_TOOLS=OFF \
+        -DBUILD_EXAMPLES=OFF && \
+    cmake --build /opt/Pangolin/build --parallel $(nproc) && \
+    cmake --install /opt/Pangolin/build && \
+    rm -rf /opt/Pangolin
+
+# --- ORB-SLAM3 dependencies (g2o, DBoW2 inclus dans ORB-SLAM3) ---
+# Note: compilation complète ~15 min. Décommenter pour build final.
+# RUN git clone --depth 1 https://github.com/UZ-SLAMLab/ORB_SLAM3 /opt/ORB_SLAM3 && \
+#     cd /opt/ORB_SLAM3 && chmod +x build.sh && bash build.sh
+
+# --- Application SLAM ---
+WORKDIR /app
+COPY src/ ./src/
+COPY config/ ./config/
+
+# Créer config/ si vide
+RUN mkdir -p /app/config
+
+# --- Port Flask ---
+EXPOSE 5000
+
+# --- Healthcheck ---
+HEALTHCHECK --interval=30s --timeout=10s --start-period=10s --retries=3 \
+    CMD curl -f http://localhost:5000/ || exit 1
+
+# --- Entrypoint ---
+ENV PYTHONUNBUFFERED=1
+CMD ["python3", "src/interface/app.py"]
--- a/config/.gitkeep
+++ b/config/.gitkeep
--- a/hardware/camera_mount.scad
+++ b/hardware/camera_mount.scad
@@ -0,0 +1,74 @@
+// camera_mount.scad — Support stéréo pour 2x Microsoft LifeCam HD-3000
+// Baseline: 110 mm (médiane 10-12 cm optimal)
+// Fixation: 4x M3 sur châssis AUV
+// Matériau recommandé: PETG (résistance eau, impact)
+// Auteur: Baptiste Moulin 2026
+
+$fn = 60;
+
+// --- Paramètres principaux ---
+BASELINE        = 110;   // mm entre axes optiques
+CAM_W           = 34;    // largeur boîtier LifeCam (section base)
+CAM_H           = 34;    // hauteur boîtier LifeCam
+CAM_DEPTH       = 10;    // profondeur empreinte caméra dans le support
+MOUNT_THICK     = 6;     // épaisseur plaque support
+MOUNT_H         = 50;    // hauteur totale support
+BOLT_D          = 3.4;   // diamètre trou M3 (passage libre)
+BOLT_PITCH_X    = 96;    // entraxe vis de fixation AUV (X)
+BOLT_PITCH_Y    = 30;    // entraxe vis de fixation AUV (Y)
+
+// --- Longueur totale de la plaque ---
+PLATE_L = BASELINE + CAM_W + 10;
+
+module cam_cutout() {
+    // Empreinte caméra: rectangle + passage câble USB
+    cube([CAM_W, CAM_DEPTH, CAM_H], center=true);
+    // Slot câble USB (6x10 mm) en bas de l'empreinte
+    translate([0, 0, -CAM_H/2 + 5])
+        cube([12, CAM_DEPTH + 2, 10], center=true);
+}
+
+module bolt_holes_mount() {
+    // 4 trous M3 pour fixation sur châssis AUV
+    for (x = [-BOLT_PITCH_X/2, BOLT_PITCH_X/2])
+        for (y = [-BOLT_PITCH_Y/2, BOLT_PITCH_Y/2])
+            translate([x, y, 0])
+                cylinder(d=BOLT_D, h=MOUNT_THICK + 2, center=true);
+}
+
+module support() {
+    difference() {
+        // Corps principal
+        union() {
+            // Plaque horizontale
+            cube([PLATE_L, MOUNT_THICK, MOUNT_H], center=true);
+            // Renforts latéraux sur chaque caméra
+            for (side = [-1, 1])
+                translate([side * BASELINE/2, MOUNT_THICK/2, 0])
+                    cube([CAM_W + 4, MOUNT_THICK * 2, MOUNT_H], center=true);
+        }
+
+        // Empreinte caméra gauche
+        translate([-BASELINE/2, 0, 0])
+            cam_cutout();
+
+        // Empreinte caméra droite
+        translate([BASELINE/2, 0, 0])
+            cam_cutout();
+
+        // Trous de fixation AUV
+        bolt_holes_mount();
+
+        // Allègement central (triangle)
+        translate([0, 0, 0])
+            cube([BASELINE - CAM_W - 8, MOUNT_THICK + 2, MOUNT_H - 16], center=true);
+    }
+}
+
+// --- Rendu principal ---
+support();
+
+// --- Annotations (commentaires) ---
+// Axes optiques à Z=0, Y=MOUNT_THICK+5
+// Baseline mesurée = BASELINE mm entre les 2 marques rouges
+// Imprimer à 0.2 mm layer height, 40% infill gyroid, 3 périmètres
--- a/scripts/deploy_pi.sh
+++ b/scripts/deploy_pi.sh
@@ -0,0 +1,73 @@
+#!/usr/bin/env bash
+# Deploy SLAM stéréo sur Raspberry Pi via SSH/rsync
+# Usage: bash deploy_pi.sh <IP_PI>
+
+set -e
+
+# --- Variables ---
+PI_USER="pi"
+PI_PASS="raspberry"
+PI_DEST="/home/pi/slam_stereo"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+# --- Argument ---
+if [ -z "$1" ]; then
+    echo "[ERREUR] Usage: $0 <IP_PI>"
+    echo "Exemple: $0 192.168.2.2"
+    exit 1
+fi
+PI_HOST="$1"
+
+echo "[INFO] Déploiement vers $PI_USER@$PI_HOST:$PI_DEST"
+
+# --- Test connectivité ---
+echo "[INFO] Test SSH..."
+if ! sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no \
+    -o ConnectTimeout=5 "$PI_USER@$PI_HOST" "echo 'SSH OK'" 2>/dev/null; then
+    echo "[ERREUR] Impossible de se connecter à $PI_HOST"
+    echo "[INFO] Vérifier: IP correcte, Pi allumé, sshpass installé"
+    exit 1
+fi
+
+# --- Créer dossiers sur Pi ---
+echo "[INFO] Création des dossiers..."
+sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" \
+    "mkdir -p $PI_DEST/{src/calibration,src/slam,src/interface,config}"
+
+# --- Rsync src/ ---
+echo "[INFO] Transfert src/..."
+sshpass -p "$PI_PASS" rsync -avz --progress \
+    -e "ssh -o StrictHostKeyChecking=no" \
+    "$PROJECT_DIR/src/" \
+    "$PI_USER@$PI_HOST:$PI_DEST/src/"
+
+# --- Rsync config/ ---
+echo "[INFO] Transfert config/..."
+sshpass -p "$PI_PASS" rsync -avz --progress \
+    -e "ssh -o StrictHostKeyChecking=no" \
+    "$PROJECT_DIR/config/" \
+    "$PI_USER@$PI_HOST:$PI_DEST/config/" 2>/dev/null || echo "[WARN] config/ vide, skip"
+
+# --- Install dépendances Python ---
+echo "[INFO] Installation dépendances Python..."
+sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" bash << 'REMOTE'
+    set -e
+    pip3 install --upgrade pip --quiet
+    pip3 install opencv-python flask numpy pyyaml --quiet
+    echo "[OK] Dépendances installées"
+REMOTE
+
+# --- Test Flask ---
+echo "[INFO] Test Flask..."
+sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" \
+    "cd $PI_DEST && python3 -c 'import flask, cv2, numpy, yaml; print(\"[OK] Imports OK\")'"
+
+echo ""
+echo "=== DEPLOY TERMINÉ ==="
+echo "Interface web: http://$PI_HOST:5000"
+echo "Démarrage manuel:"
+echo "  ssh $PI_USER@$PI_HOST"
+echo "  cd $PI_DEST && python3 src/interface/app.py"
+echo ""
+echo "Note BlueOS: utiliser aussi le Dockerfile pour extension native"