50 lines
2.3 KiB
Plaintext
50 lines
2.3 KiB
Plaintext
CHANGELOG - libstereo_bolt selected4 delivery
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================================================
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## 2026-07-10 selected4-v2
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Packaging and acceptance:
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- Added the eight original 12 MP BMP files for frames 19, 20, 28 and 43
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under validation/inputs/.
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- Added validation/run_selected4.sh for package-local manifest, dependency,
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precise-interface and ranging-interface verification on RK3588.
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- Updated installation commands so no external sample path is required.
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- Added validation/selected4_package_reverify.log captured on RK3588 while
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running only the files extracted from this delivery package.
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- Added the explicit config/config.rk3588.selected4.top_plane.yaml alias,
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SELECTED4_PROVENANCE.txt and an RK3588 c_example_centerline binary.
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- The one-click test now exercises both sb_create(YAML) and sb_create_ex(model
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bytes) before accepting the package.
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- Fixed c_example_centerline to preserve its success return code before freeing
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the result structure; its previous post-free check incorrectly returned 3
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after printing a successful eight-bolt result.
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## 2026-07-09 selected4-v1
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Scope:
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- Fixed validation set: frames 19, 20, 28 and 43 from the 7.3 stereo data.
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- New RKNN model: obb_plus_halcon_seg_1024_fp16.rknn.
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- Precise and ranging interfaces use the same four stereo pairs for acceptance.
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Algorithm and interface:
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- Complete cap far/near edge-pair evidence now outranks an isolated one-eye
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gradient when selecting the bolt top.
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- Cap-pair stereo tolerance scales with bolt width; candidates outside the
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original trusted band remain explicitly suspect.
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- Plane height is measured along the fitted bolt axis to the support-plane
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intersection. The selected4 plane-anchor standard-deviation gate is 20 mm.
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- StereoBoltParamsC appends support-plane controls at the tail. struct_size
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keeps callers using the previous shorter struct compatible.
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RK3588 acceptance:
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- Frames 19/20/28/43: left YOLO=8, right YOLO=8, pairs=8,
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precise bolts=8 and ranging bolts=8 for every frame.
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- Local WSL tests: 28/28 passed.
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- Exact logs and input hashes are under validation/.
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## Historical baseline retained
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- 2026-07-01 v4: precise partial-output contract rejects left-only product heights.
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- 2026-07-01 v3: stable OBB-axis ranging summary and pairing-swap repair.
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- 2026-06-30 v2: OBB model route and optional plane-skip optimization.
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