85 lines
3.3 KiB
Plaintext
85 lines
3.3 KiB
Plaintext
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RK3588 SELECTED4 TOP + SUPPORT-PLANE RELEASE PROVENANCE
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=======================================================
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Release identity
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----------------
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Name: selected4-top-plane-rk3588-v2
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Validated stereo frames: 19, 20, 28 and 43
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Acceptance target 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 library
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-----------------
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File: lib/libstereo_bolt.so
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SHA256: 39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885
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ELF: AArch64
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Build ID: 14a8822d90f2e5334d2f3ec4c632972047df992d
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The packaged file is byte-identical to the RK3588 build output at
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/home/linaro/stereo_bolt/build-selected4-rk3588/src/libstereo_bolt.so.
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The board build sources were byte-compared with the Windows workspace:
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src/centerline_match1d.cpp
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8fea4c07f1ba0b5aafb5cf2ed9a337b60c725a626f29ae75a1a6e5ebe2087600
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src/centerline_measure.cpp
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36b8c84e6f1a25fcb4ad05a57bb0cf521eb2e999451ce3d2b2ed3ea6754dbfa5
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src/c_api.cpp
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89fff5766127308d03b9a238f956ef8f732492cbf1dd1229aac87c947fbc5cb0
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The binary contains the selected4 top-selection routes:
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- left_cap_pair_right_gradient_agree
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- left_gradient_right_cap_pair_agree
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- top_suspect_cap_near_edge_stereo_wide
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These routes prioritize complete cap far/near edge evidence over an isolated
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one-eye gradient. The reported 2D top is the bolt centerline intersection with
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the selected near-side top-cap edge. This behavior is compiled into the shared
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library; it is not selected by a YAML switch.
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Selected4 support-plane configuration
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-------------------------------------
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Canonical file: config/config.rk3588.selected4.top_plane.yaml
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Compatibility alias: config/config.rk3588.12mp.yaml
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Both files are byte-identical.
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SHA256: 6b184643f2f7366784c69070d8d91c48224ef5b10f823db3669f7794e70e2688
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Required measurement values:
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- plane_use_sgbm: true
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- height_from_plane: true
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- plane_height_along_axis: true
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- plane_anchor_max_foot_gap_std_mm: 20.0
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- plane_sgbm_scale: 0.25
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- plane_max_samples: 40000
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The sb_create_ex validator injects the exact same values through
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StereoBoltParamsC. The C API wiring for these values is part of the packaged
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libstereo_bolt.so.
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RKNN model and calibration
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--------------------------
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Model: weights/obb_plus_halcon_seg_1024_fp16.rknn
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SHA256: 4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72
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Backend/task/input: RKNN / YOLO OBB / 1024x1024 FP16
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Confidence threshold: 0.25
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Calibration: calib/stereo_calib_20260621_202857_ascii.xml
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SHA256: 751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4
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Package-local acceptance paths
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------------------------------
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validation/run_selected4.sh runs both paths on all four packaged stereo pairs:
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1. validation/c_example_centerline uses sb_create() with the canonical YAML,
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then sb_process_bolt_module_files(). It must print success=1 bolts=8.
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RK3588 binary SHA256:
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83ac931940e9d41317659cce51b62f949d6613ec3f5861a43f81ed2ba3b1d7fa
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Packaged source: validation/c_example_centerline.c
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Source SHA256:
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f905c1476734d0be268a33862d82255f54104bdb6211428ac3f72ff6340d1bf3
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2. validation/selected4_delivery_validate uses sb_create_ex() with the packaged
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calibration and RKNN bytes, then checks both the precise buffer API and the
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ranging API. Each frame must print VERDICT=PASS.
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The script also verifies MANIFEST_SHA256.txt and all dynamic dependencies. A
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zero exit code plus PACKAGE_REVERIFY_PASS is the release acceptance condition.
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