125 lines
4.4 KiB
Markdown
125 lines
4.4 KiB
Markdown
# RK3588 四帧优化版交付说明
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## 交付范围
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本包是针对 `7.3` 数据集第 19、20、28、43 帧固化的 RK3588/AArch64 版本。
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验收条件为每帧：
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- 左眼 YOLO OBB = 8 根。
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- 右眼 YOLO OBB = 8 根。
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- 双目配对 = 8 根。
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- 精测接口输出 = 8 根。
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- 测距接口输出 = 8 根。
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本包不声称已在其他帧或其他相机装配上完成泛化验收。
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## 固定版本
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- `lib/libstereo_bolt.so`
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SHA256: `39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885`
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- `weights/obb_plus_halcon_seg_1024_fp16.rknn`
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SHA256: `4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72`
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- YOLOv8n OBB, 1 class `bolt`, input `1024x1024`, RKNN FP16
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- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
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- 配置：`config/config.rk3588.12mp.yaml`
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- 四帧优化配置：`config/config.rk3588.selected4.top_plane.yaml`
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上述两个配置文件内容完全相同；后者是本版本的规范名称。算法库、配置、模型、
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板端源码哈希及双入口验收关系见 `SELECTED4_PROVENANCE.txt`。
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## 算法路线
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```text
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stereo rectify
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-> RKNN YOLO OBB left/right
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-> stereo ROI pairing
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-> 2D bolt centerline and top endpoint
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-> sparse stereo 3D centerline
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-> SGBM support-plane fitting
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-> centerline/plane intersection
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-> bolt height and adjacent distances
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```
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顶点定义：螺杆中线与顶部端面近侧连续边缘的交点。完整的端面远/近边缘对优先于单眼孤立梯度点；
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宽容度候选会标为 `suspect`，不伪装成高置信度。
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高度定义：从三维顶点沿拟合螺杆轴线，到轴线与拟合支撑平面交点的距离。
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## C ABI
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公共头文件只有 `include/stereo_bolt/c_api.h`。主要接口：
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```c
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StereoBoltCtx* sb_create_ex(const StereoBoltCalibC*,
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const StereoBoltModelC*,
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const StereoBoltParamsC*);
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sb_status_t sb_process_bolt_module_buffers(
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StereoBoltCtx*,
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const uint8_t* left, int lw, int lh, int lstride,
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const uint8_t* right, int rw, int rh, int rstride,
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int channels, int expected_count, StereoBoltModuleResultC* out);
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sb_status_t sb_range_bolt_binned(
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StereoBoltCtx*,
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const uint8_t* left, int lw, int lh, int lstride,
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const uint8_t* right, int rw, int rh, int rstride,
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int channels, StereoBoltRangeSummaryC* out,
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StereoBoltRangeBoltC* bolts, int max_bolts);
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```
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### `sb_create_ex` 四帧参数
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```c
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StereoBoltParamsC p = sb_default_params();
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p.wd_z_min_mm = 900.0;
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p.wd_z_max_mm = 4000.0;
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p.plane_use_sgbm = 1;
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p.height_from_plane = 1;
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p.plane_height_along_axis = 1;
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p.plane_anchor_max_foot_gap_std_mm = 20.0;
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p.plane_sgbm_scale = 0.25;
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p.plane_max_samples = 40000;
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```
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新平面参数均追加在 `StereoBoltParamsC` 尾部。库依据 `struct_size` 兼容旧版较短的输入结构；
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旧调用方不会被强制开启平面测高。
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兼容的文件方式：
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```c
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StereoBoltCtx* ctx = sb_create("config/config.rk3588.12mp.yaml");
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```
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## RK3588 验证结果
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| 帧 | 左YOLO | 右YOLO | 配对 | 精测 | 测距 | 代表距离/mm | 结果 |
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|---:|---:|---:|---:|---:|---:|---:|---|
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| 19 | 8 | 8 | 8 | 8 | 8 | 2298.843 | PASS |
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| 20 | 8 | 8 | 8 | 8 | 8 | 2286.521 | PASS |
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| 28 | 8 | 8 | 8 | 8 | 8 | 2555.266 | PASS |
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| 43 | 8 | 8 | 8 | 8 | 8 | 1893.487 | PASS |
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使用本包内图像和一键脚本得到的完整板端输出：
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`validation/selected4_package_reverify.log`。构建目录的原始验收输出另保留为
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`validation/selected4_validation_final.log`。
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四组左右眼原始图像已放入 `validation/inputs/`；文件名、大小和 SHA256 见
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`validation/input_sha256.csv`，也受整包 `MANIFEST_SHA256.txt` 校验保护。
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## 包内容
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```text
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lib/ algorithm and bundled runtime libraries
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include/stereo_bolt/c_api.h public C ABI
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weights/ selected4 RKNN model
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calib/ stereo calibration
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config/ selected4 file-based config
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example/ minimal C consumer
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validation/ board validator, one-click script, logs and four stereo pairs
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SELECTED4_PROVENANCE.txt algorithm/config/model provenance and exact hashes
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ABI_FINGERPRINT.txt binary ABI and hashes
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INSTALL_3588.md install and verification commands
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```
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`confidence=0` 为 `trusted`，`confidence=1` 为 `suspect`。调用方必须保留该分级，不应把 `suspect` 改写为高置信度结果。
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