# Drones drone ingest pipeline

Turns drone footage + telemetry into georeferenced detections and pushes them to
a Drones instance.

```
video / RTMP frames   +   telemetry (DJI .SRT)
        │                        │
   extractFrames             parseDjiSrt
        └──────────┬─────────────┘
              detector (stub | ONNX YOLO)     → bbox per frame
                     │
               pixelToGround                   → lat/lon per detection
                     │
             POST /api/ingest                  → D1
                     │
            view at /?survey=<id>
```

## Quick start (no drone needed)
Runs a synthetic lawnmower flight through the stub detector and prints what it
would send — proves the whole chain:
```bash
cd pipeline
node src/run.js --synthetic --dry-run
```
Push it into a running local Drones (with local D1, see root README):
```bash
node src/run.js --synthetic --name "test-survey" --base-url http://localhost:8787
# → View it: http://localhost:8787/?survey=sv-test-survey-...
```

## Real footage
```bash
node src/run.js \
  --source flight.MP4 --srt flight.SRT \
  --detector onnx --model yolo-thermal.onnx \
  --width 1920 --height 1080 \
  --drone "DJI Mavic 2 Enterprise Advanced" \
  --base-url https://drones.theradicalparty.com
```

## Live RTMP (DJI Fly app livestream)
Point the DJI Fly app's RTMP stream at a local server, then:
```bash
node src/run.js --source rtmp://localhost/live/stream --srt live.SRT --fps 1
```

## The three stages you can swap
- **Telemetry** (`src/telemetry.js`) — DJI SRT parser + synthetic flight. Add other
  drones by mapping their telemetry into `{lat, lon, altAGL, heading, gimbalPitch, hfovDeg}`.
- **Detector** (`src/detector.js`) — `stub` (works now) and `onnx` (wire your trained
  YOLO: JPEG decode → letterbox → run → NMS → map class ids to species). Everything
  downstream is model-agnostic.
- **Georeferencer** (`src/georef.js`) — pinhole camera + flat-ground projection.
  Verified: centre pixel at nadir → drone position; right-edge offset matches
  `altitude·tan(hfov/2)`; near-horizon rays correctly return no ground hit.
  Next refinement: intersect the ray with a DEM instead of flat ground.

## Requirements
- Node 18+ (uses global `fetch`)
- `ffmpeg` on PATH (only for `--source`)
- `onnxruntime-node` (optional, only for `--detector onnx`)

## What's real vs. stubbed
- ✅ telemetry parse, frame extraction, georeferencing, survey assembly, ingest, map render
- 🔩 the ONNX detector's tensor plumbing is left for when you have a trained thermal
  wildlife model — the stub detector exercises the identical downstream path today.