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

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Dockerfile

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+# 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"]