80 lines
2.8 KiB
Plaintext
80 lines
2.8 KiB
Plaintext
RK3588 MAINLINE SELECTED4 RELEASE PROVENANCE
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============================================
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Release identity
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----------------
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Name: mainline-selected4-direct-rknn-v3
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Date: 2026-07-14
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Fixed board acceptance frames: 19, 20, 28 and 43
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Acceptance per frame: left YOLO=8, right YOLO=8, pairs=8,
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precise bolts=8 and ranging bolts=8.
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Algorithm route
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---------------
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Stereo rectification -> direct YOLO OBB -> stereo ROI pairing -> 2D centerline
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and top -> sparse stereo 3D axis -> local SGBM support-plane -> axis/plane
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intersection -> axial height.
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Backends:
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- Windows: OpenCV DNN directly, ONNX model.
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- RK3588: RKNN Runtime directly, RKNN model.
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- AI Studio Runtime wrapper: removed from source, build and delivery.
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Algorithm library
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-----------------
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File: lib/libstereo_bolt.so
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SHA256: 5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd
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ELF: AArch64
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Build ID: 79fbed2add268e6ceadad58e1e8f93731c844907
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Cross toolchain: aarch64-linux-gnu GCC 11
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Minimum glibc contract: GLIBC_2.35
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OpenCV contract: standard libopencv_*.so.4.5 SONAMEs
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Model/config/calibration
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------------------------
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Model: weights/model_20260713T084621+0000_c732327c.rknn
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SHA256: b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169
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Backend/task/input: RKNN / YOLO OBB / 1024x1024
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Confidence/IoU: 0.50 / 0.45
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Config: config/config.rk3588.mainline.yaml
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SHA256: d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de
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Measurement: SGBM plane enabled, height from plane enabled, height along axis
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enabled, plane anchor gap std <= 20.0 mm, SGBM scale 0.25, max samples 40000.
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Calibration: calib/stereo_calib_20260621_202857_ascii.xml
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SHA256: 751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4
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Validators
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----------
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validation/c_example_centerline
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SHA256: 59bccb6c248b447de17849ed42c7f3155753420b46f9a15e99df4bce32f6c5ec
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Calls sb_create(YAML) and sb_process_bolt_module_files().
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validation/selected4_delivery_validate
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SHA256: 78911c1b12b6c91dcc0f4b36e94eedd5868d3b9dd3b1f069dc0558cae7e4be47
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Calls sb_create_ex(model bytes), sb_process_bolt_module_buffers() and
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sb_range_bolt_binned(). Uses the same 0.50 confidence as the YAML route.
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RK3588 package-local acceptance
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-------------------------------
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Board: RK3588 AArch64 / Ubuntu 22.04
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Result: frames 19/20/28/43 passed both entry paths with 8 detections per eye,
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8 stereo pairs, 8 precise measurements and 8 ranging bolts.
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Terminal marker: PACKAGE_REVERIFY_PASS
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Log: validation/mainline_package_reverify.log
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SHA256: 3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810
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ABI compatibility
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-----------------
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Exact exported C symbol set, unchanged from the 2026-07-10 package:
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sb_create
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sb_create_ex
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sb_default_params
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sb_destroy
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sb_last_error
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sb_free_bolt_module_result
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sb_process_bolt_module_files
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sb_process_bolt_module_buffers
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sb_range_bolt_binned
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