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