RK3588 MAINLINE SELECTED4 RELEASE PROVENANCE
============================================

Release identity
----------------
Name: mainline-selected4-direct-rknn-v3
Date: 2026-07-14
Fixed board acceptance frames: 19, 20, 28 and 43
Acceptance per frame: left YOLO=8, right YOLO=8, pairs=8,
precise bolts=8 and ranging bolts=8.

Algorithm route
---------------
Stereo rectification -> direct YOLO OBB -> stereo ROI pairing -> 2D centerline
and top -> sparse stereo 3D axis -> local SGBM support-plane -> axis/plane
intersection -> axial height.

Backends:
- Windows: OpenCV DNN directly, ONNX model.
- RK3588: RKNN Runtime directly, RKNN model.
- AI Studio Runtime wrapper: removed from source, build and delivery.

Algorithm library
-----------------
File: lib/libstereo_bolt.so
SHA256: 5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd
ELF: AArch64
Build ID: 79fbed2add268e6ceadad58e1e8f93731c844907
Cross toolchain: aarch64-linux-gnu GCC 11
Minimum glibc contract: GLIBC_2.35
OpenCV contract: standard libopencv_*.so.4.5 SONAMEs

Model/config/calibration
------------------------
Model: weights/model_20260713T084621+0000_c732327c.rknn
SHA256: b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169
Backend/task/input: RKNN / YOLO OBB / 1024x1024
Confidence/IoU: 0.50 / 0.45

Config: config/config.rk3588.mainline.yaml
SHA256: d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de
Measurement: SGBM plane enabled, height from plane enabled, height along axis
enabled, plane anchor gap std <= 20.0 mm, SGBM scale 0.25, max samples 40000.

Calibration: calib/stereo_calib_20260621_202857_ascii.xml
SHA256: 751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4

Validators
----------
validation/c_example_centerline
SHA256: 59bccb6c248b447de17849ed42c7f3155753420b46f9a15e99df4bce32f6c5ec
Calls sb_create(YAML) and sb_process_bolt_module_files().

validation/selected4_delivery_validate
SHA256: 78911c1b12b6c91dcc0f4b36e94eedd5868d3b9dd3b1f069dc0558cae7e4be47
Calls sb_create_ex(model bytes), sb_process_bolt_module_buffers() and
sb_range_bolt_binned(). Uses the same 0.50 confidence as the YAML route.

RK3588 package-local acceptance
-------------------------------
Board: RK3588 AArch64 / Ubuntu 22.04
Result: frames 19/20/28/43 passed both entry paths with 8 detections per eye,
8 stereo pairs, 8 precise measurements and 8 ranging bolts.
Terminal marker: PACKAGE_REVERIFY_PASS
Log: validation/mainline_package_reverify.log
SHA256: 3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810

ABI compatibility
-----------------
Exact exported C symbol set, unchanged from the 2026-07-10 package:
sb_create
sb_create_ex
sb_default_params
sb_destroy
sb_last_error
sb_free_bolt_module_result
sb_process_bolt_module_files
sb_process_bolt_module_buffers
sb_range_bolt_binned