68 lines
2.5 KiB
Plaintext
68 lines
2.5 KiB
Plaintext
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CHANGELOG — libstereo_bolt delivery package
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============================================
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## 2026-07-01 v3 — stable OBB-axis ranging summary
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Current delivery contents:
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- Model: best_obb_1024.rknn (OBB, imgsz 1024, RKNN)
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- Precise measurement and ranging share the same OBB model.
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- Runtime libraries are bundled in lib/: libstereo_bolt.so, OpenCV 4.5.0, librknnrt.so.
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- No target-board apt install is required for runtime OpenCV.
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Algorithm:
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- Ranging now uses left/right OBB-axis pairing before the NCC fallback.
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- Even-count OBB candidates no longer average two different pair hypotheses.
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The summary distance chooses the center candidate with the more stable sampled
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axis disparity, removing the RK3588 1498/1652 mm jump.
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Performance / validation:
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- RK3588, distance_153304_403, 21 binned frames:
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found=21/21, distance mean=1652.360 mm, min=1652.091, max=1652.582,
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std=0.149 mm, elapsed mean=153.146 ms.
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- Windows ctest: 22/22 pass.
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## 2026-06-30 v2 — OBB model + plane skip optimization
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Changes vs previous delivery (2026-06-24, v1):
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### Model
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- Previous package used an HBB detector at imgsz 960.
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- Current package uses best_obb_1024.rknn (OBB, imgsz 1024, YOLOv8 oriented bbox).
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- OBB model trained on mixed 5MP + 12MP data (2026-06-29)
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- Auto-detection: library detects OBB vs HBB from RKNN output shape
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### Config
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- yolo.task: "auto" (auto-detect OBB/HBB from model output)
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- yolo.imgsz: 960 -> 1024
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- yolo.conf: 0.5 (unchanged)
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- measurement.height_from_plane: false (height = top-to-foot along axis)
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- working_distance.z_min_mm: 1200 -> 900
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- working_distance.z_max_mm: 2800 -> 4000
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- ranging.z_min_mm: 1300 -> 900
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- ranging.z_max_mm: 3600 -> 4000
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### Algorithm
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- Plane computation skipped when height_from_plane=false
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(saves 300-550ms per frame on 8-bolt scenes)
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- OBB auto-detection in RKNN backend
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- OBB centerline rescue + peer height consensus clamp
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### Calibration
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- Unchanged: stereo_calib_20260621_202857_ascii.xml (baseline 482mm)
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### C API
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- ABI unchanged: c_api.h has zero changes
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- All function signatures identical
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- Struct layouts identical
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- Drop-in .so replacement, no recompile needed for downstream
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### Performance (RK3588 board, 8-bolt scene, height_from_plane=false)
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- Precise: ~400ms/frame (was ~800ms with plane enabled)
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- Ranging: superseded by v3 benchmark above
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### Verified on
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- RK3588 board (linaro): 0621 dataset 21 frames, 12/21 success
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- 0627 dataset 10 frames: 10/10 success
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- 0628 dataset 10 frames: 10/10 success
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- Windows ctest at the time: 20/20 pass
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