diff --git a/AppAlgo/stereo_bolt_delivery/ABI_FINGERPRINT.txt b/AppAlgo/stereo_bolt_delivery/ABI_FINGERPRINT.txt
index 0ae42067..ee1f77e1 100644
--- a/AppAlgo/stereo_bolt_delivery/ABI_FINGERPRINT.txt
+++ b/AppAlgo/stereo_bolt_delivery/ABI_FINGERPRINT.txt
@@ -1,17 +1,17 @@
-# ABI fingerprint: RK3588 selected4 release
-# generated: 2026-07-10
+# ABI fingerprint: RK3588 mainline selected4 release
+# generated: 2026-07-14
 
 [artifacts]
 lib/libstereo_bolt.so SHA256:
-  39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885
-weights/obb_plus_halcon_seg_1024_fp16.rknn SHA256:
-  4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72
+  5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd
+weights/model_20260713T084621+0000_c732327c.rknn SHA256:
+  b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169
 
 [target]
 ELF 64-bit LSB shared object
 Machine: ARM AArch64
 Minimum glibc: GLIBC_2.35
-Build ID: 14a8822d90f2e5334d2f3ec4c632972047df992d
+Build ID: 79fbed2add268e6ceadad58e1e8f93731c844907
 
 [exported C symbols]
 sb_create
@@ -37,8 +37,6 @@ libgcc_s.so.1
 libc.so.6
 ld-linux-aarch64.so.1
 
-[ABI note]
-StereoBoltParamsC appends selected4 support-plane fields at the tail.
-The library uses struct_size to accept the previous shorter struct and fills
-new fields with legacy-safe defaults. Output structs and exported function
-signatures are unchanged.
+[compatibility]
+The exported C symbol list is exactly identical to the 2026-07-10 selected4
+delivery. No AI Studio Runtime wrapper library is required or referenced.
diff --git a/AppAlgo/stereo_bolt_delivery/CHANGELOG.txt b/AppAlgo/stereo_bolt_delivery/CHANGELOG.txt
index 82b47e49..4331eef3 100644
--- a/AppAlgo/stereo_bolt_delivery/CHANGELOG.txt
+++ b/AppAlgo/stereo_bolt_delivery/CHANGELOG.txt
@@ -1,49 +1,33 @@
-CHANGELOG - libstereo_bolt selected4 delivery
-================================================
+CHANGELOG - libstereo_bolt mainline delivery
+=============================================
 
-## 2026-07-10 selected4-v2
+2026-07-14 mainline-selected4-v3
+---------------------------------
+- Promoted the selected4 axial top-to-support-plane measurement route to the
+  default product path.
+- Removed the AI Studio Runtime wrapper route. Windows uses OpenCV DNN directly;
+  RK3588 uses RKNN Runtime directly.
+- Switched the mainline ONNX/RKNN model to model_20260713T084621+0000_c732327c
+  with a 0.50 confidence threshold.
+- Kept the published C ABI unchanged. The new and 2026-07-10 libraries export
+  the exact same nine sb_* symbols.
+- Windows: 29/29 unit tests passed; all 79 stereo pairs from 7.3 were executed.
+  Strict precise success was 24/79, complete center/top was 53/79 and ranging
+  returned a result on 79/79. Acceptance frames 19/20/28/43 all passed 8/8.
+- Cross-built for AArch64 with GCC 11, glibc 2.35 contract and standard OpenCV
+  4.5 SONAMEs. No platform-wrapper shared object appears in NEEDED.
+- RK3588 package-local manifest/dependency check passed. Frames 19/20/28/43
+  passed both the YAML file path and explicit-model buffer/ranging path at 8/8;
+  the captured log ends with PACKAGE_REVERIFY_PASS.
 
-Packaging and acceptance:
-- Added the eight original 12 MP BMP files for frames 19, 20, 28 and 43
-  under validation/inputs/.
-- Added validation/run_selected4.sh for package-local manifest, dependency,
-  precise-interface and ranging-interface verification on RK3588.
-- Updated installation commands so no external sample path is required.
-- Added validation/selected4_package_reverify.log captured on RK3588 while
-  running only the files extracted from this delivery package.
-- Added the explicit config/config.rk3588.selected4.top_plane.yaml alias,
-  SELECTED4_PROVENANCE.txt and an RK3588 c_example_centerline binary.
-- The one-click test now exercises both sb_create(YAML) and sb_create_ex(model
-  bytes) before accepting the package.
-- Fixed c_example_centerline to preserve its success return code before freeing
-  the result structure; its previous post-free check incorrectly returned 3
-  after printing a successful eight-bolt result.
+2026-07-10 selected4-v2
+-----------------------
+- Packaged the original 19/20/28/43 image pairs and a package-local dual-entry
+  RK3588 acceptance script.
+- Exercised both sb_create(YAML) and sb_create_ex(model bytes).
 
-## 2026-07-09 selected4-v1
-
-Scope:
-- Fixed validation set: frames 19, 20, 28 and 43 from the 7.3 stereo data.
-- New RKNN model: obb_plus_halcon_seg_1024_fp16.rknn.
-- Precise and ranging interfaces use the same four stereo pairs for acceptance.
-
-Algorithm and interface:
-- Complete cap far/near edge-pair evidence now outranks an isolated one-eye
-  gradient when selecting the bolt top.
-- Cap-pair stereo tolerance scales with bolt width; candidates outside the
-  original trusted band remain explicitly suspect.
-- Plane height is measured along the fitted bolt axis to the support-plane
-  intersection. The selected4 plane-anchor standard-deviation gate is 20 mm.
-- StereoBoltParamsC appends support-plane controls at the tail. struct_size
-  keeps callers using the previous shorter struct compatible.
-
-RK3588 acceptance:
-- Frames 19/20/28/43: left YOLO=8, right YOLO=8, pairs=8,
-  precise bolts=8 and ranging bolts=8 for every frame.
-- Local WSL tests: 28/28 passed.
-- Exact logs and input hashes are under validation/.
-
-## Historical baseline retained
-
-- 2026-07-01 v4: precise partial-output contract rejects left-only product heights.
+Historical baseline retained
+----------------------------
+- 2026-07-09 selected4-v1: selected4 top evidence and support-plane axial height.
+- 2026-07-01 v4: precise partial-output contract rejects left-only heights.
 - 2026-07-01 v3: stable OBB-axis ranging summary and pairing-swap repair.
-- 2026-06-30 v2: OBB model route and optional plane-skip optimization.
diff --git a/AppAlgo/stereo_bolt_delivery/DELIVERY.md b/AppAlgo/stereo_bolt_delivery/DELIVERY.md
index 4a739f58..93ccf8c5 100644
--- a/AppAlgo/stereo_bolt_delivery/DELIVERY.md
+++ b/AppAlgo/stereo_bolt_delivery/DELIVERY.md
@@ -1,124 +1,107 @@
-# RK3588 四帧优化版交付说明
+# RK3588 螺栓测量主线路交付说明
 
-## 交付范围
+## 交付定位
 
-本包是针对 `7.3` 数据集第 19、20、28、43 帧固化的 RK3588/AArch64 版本。
-验收条件为每帧：
+本包将原“四组图特化”实现升级为当前主线路。算法高度定义为：螺杆三维顶点沿拟合轴线，到轴线与局部支撑平面交点的距离。
 
-- 左眼 YOLO OBB = 8 根。
-- 右眼 YOLO OBB = 8 根。
-- 双目配对 = 8 根。
-- 精测接口输出 = 8 根。
-- 测距接口输出 = 8 根。
+推理后端只保留原有两条直接路线：
 
-本包不声称已在其他帧或其他相机装配上完成泛化验收。
+- Windows：OpenCV DNN 直接加载 ONNX。
+- RK3588：RKNN Runtime 直接加载 RKNN。
 
-## 固定版本
+本包不包含、也不依赖 AI Studio Runtime 平台封装层。公共 C ABI、输出结构和函数签名保持不变。
 
-- `lib/libstereo_bolt.so`
-  SHA256: `39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885`
-- `weights/obb_plus_halcon_seg_1024_fp16.rknn`
-  SHA256: `4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72`
-- YOLOv8n OBB, 1 class `bolt`, input `1024x1024`, RKNN FP16
-- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
-- 配置：`config/config.rk3588.12mp.yaml`
-- 四帧优化配置：`config/config.rk3588.selected4.top_plane.yaml`
-
-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、
-板端源码哈希及双入口验收关系见 `SELECTED4_PROVENANCE.txt`。
-
-## 算法路线
+## 主线算法
 
 ```text
 stereo rectify
--> RKNN YOLO OBB left/right
+-> YOLO OBB left/right
 -> stereo ROI pairing
 -> 2D bolt centerline and top endpoint
 -> sparse stereo 3D centerline
--> SGBM support-plane fitting
+-> local SGBM support-plane fitting
 -> centerline/plane intersection
--> bolt height and adjacent distances
+-> axial bolt height and adjacent distances
 ```
 
-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；
-宽容度候选会标为 `suspect`，不伪装成高置信度。
+主线参数：
 
-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。
+- `plane_use_sgbm: true`
+- `height_from_plane: true`
+- `plane_height_along_axis: true`
+- `plane_anchor_max_foot_gap_std_mm: 20.0`
+- `plane_sgbm_scale: 0.25`
+- `plane_max_samples: 40000`
+- YOLO input `1024x1024`, confidence `0.50`, IoU `0.45`
 
-## C ABI
+## 固定交付件
 
-公共头文件只有 `include/stereo_bolt/c_api.h`。主要接口：
+- 算法库：`lib/libstereo_bolt.so`
+  - SHA256 `5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd`
+  - AArch64 Build ID `79fbed2add268e6ceadad58e1e8f93731c844907`
+- RKNN 模型：`weights/model_20260713T084621+0000_c732327c.rknn`
+  - SHA256 `b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169`
+- 配置：`config/config.rk3588.mainline.yaml`
+  - SHA256 `d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de`
+- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
+  - SHA256 `751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4`
+- 公共头文件：`include/stereo_bolt/c_api.h`
+  - SHA256 `61a56da934fe4ed1fb7e98a4d145aeaf1789c56a8494ccc9bec193cf9701c163`
 
-```c
-StereoBoltCtx* sb_create_ex(const StereoBoltCalibC*,
-                            const StereoBoltModelC*,
-                            const StereoBoltParamsC*);
+## 接口兼容
 
-sb_status_t sb_process_bolt_module_buffers(
-    StereoBoltCtx*,
-    const uint8_t* left, int lw, int lh, int lstride,
-    const uint8_t* right, int rw, int rh, int rstride,
-    int channels, int expected_count, StereoBoltModuleResultC* out);
-
-sb_status_t sb_range_bolt_binned(
-    StereoBoltCtx*,
-    const uint8_t* left, int lw, int lh, int lstride,
-    const uint8_t* right, int rw, int rh, int rstride,
-    int channels, StereoBoltRangeSummaryC* out,
-    StereoBoltRangeBoltC* bolts, int max_bolts);
-```
-
-### `sb_create_ex` 四帧参数
-
-```c
-StereoBoltParamsC p = sb_default_params();
-p.wd_z_min_mm = 900.0;
-p.wd_z_max_mm = 4000.0;
-p.plane_use_sgbm = 1;
-p.height_from_plane = 1;
-p.plane_height_along_axis = 1;
-p.plane_anchor_max_foot_gap_std_mm = 20.0;
-p.plane_sgbm_scale = 0.25;
-p.plane_max_samples = 40000;
-```
-
-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；
-旧调用方不会被强制开启平面测高。
-
-兼容的文件方式：
-
-```c
-StereoBoltCtx* ctx = sb_create("config/config.rk3588.12mp.yaml");
-```
-
-## RK3588 验证结果
-
-| 帧 | 左YOLO | 右YOLO | 配对 | 精测 | 测距 | 代表距离/mm | 结果 |
-|---:|---:|---:|---:|---:|---:|---:|---|
-| 19 | 8 | 8 | 8 | 8 | 8 | 2298.843 | PASS |
-| 20 | 8 | 8 | 8 | 8 | 8 | 2286.521 | PASS |
-| 28 | 8 | 8 | 8 | 8 | 8 | 2555.266 | PASS |
-| 43 | 8 | 8 | 8 | 8 | 8 | 1893.487 | PASS |
-
-使用本包内图像和一键脚本得到的完整板端输出：
-`validation/selected4_package_reverify.log`。构建目录的原始验收输出另保留为
-`validation/selected4_validation_final.log`。
-四组左右眼原始图像已放入 `validation/inputs/`；文件名、大小和 SHA256 见
-`validation/input_sha256.csv`，也受整包 `MANIFEST_SHA256.txt` 校验保护。
-
-## 包内容
+导出的 9 个 C 符号与 `stereo_bolt_delivery_selected4_20260710` 完全一致：
 
 ```text
-lib/                         algorithm and bundled runtime libraries
-include/stereo_bolt/c_api.h  public C ABI
-weights/                     selected4 RKNN model
-calib/                       stereo calibration
-config/                      selected4 file-based config
-example/                     minimal C consumer
-validation/                  board validator, one-click script, logs and four stereo pairs
-SELECTED4_PROVENANCE.txt      algorithm/config/model provenance and exact hashes
-ABI_FINGERPRINT.txt          binary ABI and hashes
-INSTALL_3588.md              install and verification commands
+sb_create
+sb_create_ex
+sb_default_params
+sb_destroy
+sb_last_error
+sb_free_bolt_module_result
+sb_process_bolt_module_files
+sb_process_bolt_module_buffers
+sb_range_bolt_binned
 ```
 
-`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。
+生产集成继续使用原接口。`StereoBoltParamsC` 通过 `struct_size` 兼容较短的旧调用方结构；本次没有改变任何已发布函数签名或输出结构布局。
+
+## 验证边界
+
+Windows 对 `7.3` 全部 79 组图像做了真实执行：测距入口 79/79 找到结果，完整 center/top 53/79，严格精测成功 24/79。选定的 19/20/28/43 四帧均为 8 检测、8 配对、8 精测成功。详细结果见 `validation/WINDOWS_7_3_VALIDATION_SUMMARY.md`。
+
+因此，本包对四帧验收集做了完整固定验收，但不能把 24/79 的全量结果表述为已经完成全场景泛化。其余失败主要为数量不符、配对失败和测量失败，仍需要后续数据/算法迭代。
+
+RK3588 真机从本包独立解压执行的结果如下；两种入口均为 4/4 PASS：
+
+| 帧 | 左/右检测 | 配对 | 精测 | 测距 | 显式入口代表距离/mm |
+|---:|---:|---:|---:|---:|---:|
+| 19 | 8/8 | 8 | 8 | 8 | 2306.606 |
+| 20 | 8/8 | 8 | 8 | 8 | 2286.189 |
+| 28 | 8/8 | 8 | 8 | 8 | 2554.382 |
+| 43 | 8/8 | 8 | 8 | 8 | 1890.147 |
+
+真机原始输出保存在 `validation/mainline_package_reverify.log`，SHA256 为 `3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810`。
+
+板端一键验收脚本同时覆盖：
+
+1. `sb_create(YAML)` + 文件接口。
+2. `sb_create_ex(model bytes)` + buffer 精测接口 + 测距接口。
+3. 包内 MANIFEST 和动态依赖闭包。
+
+本次脚本返回码为 0，末行已出现 `PACKAGE_REVERIFY_PASS`。
+
+## 目录
+
+```text
+lib/                         主算法库、RKNN 与 OpenCV 运行库
+include/stereo_bolt/c_api.h  公共 C ABI
+weights/                     主线 RKNN 模型
+calib/                       双目标定
+config/                      RK3588 主线配置
+example/                     纯 C 接入示例
+validation/                  双入口验收器、日志和四组原图
+ABI_FINGERPRINT.txt          ELF/ABI 指纹
+SELECTED4_PROVENANCE.txt     算法、模型、配置与构建来源
+INSTALL_3588.md              安装和复验命令
+```
diff --git a/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md b/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
index 82224f82..2830ddc5 100644
--- a/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
+++ b/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
@@ -1,73 +1,47 @@
 # RK3588 安装与验证
 
-## 要求
+## 环境
 
-- CPU: AArch64 RK3588
-- OS: Ubuntu 22.04, glibc >= 2.35
-- NPU 驱动已安装
-- OpenCV 4.5.0 和 `librknnrt.so` 已随包放在 `lib/`
+- AArch64 RK3588
+- Ubuntu 22.04 / glibc >= 2.35
+- 可用的 RKNN NPU 驱动
+- 不需要安装系统 OpenCV；标准 SONAME 的 OpenCV 4.5.0 和 `librknnrt.so` 已包含在 `lib/`
+- 不需要 AI Studio Runtime
 
 ## 解包
 
 ```bash
-tar xzf stereo_bolt_delivery_selected4_20260710.tar.gz
-cd stereo_bolt_delivery_selected4_20260710
+tar xzf stereo_bolt_delivery_mainline_20260714.tar.gz
+cd stereo_bolt_delivery_mainline_20260714
 export LD_LIBRARY_PATH="$(pwd)/lib:${LD_LIBRARY_PATH:-}"
-chmod +x validation/selected4_delivery_validate validation/run_selected4.sh
+chmod +x validation/c_example_centerline \
+  validation/selected4_delivery_validate \
+  validation/run_selected4.sh
 ```
 
-## 依赖检查
+## 完整性与依赖
 
 ```bash
-uname -m
-# expected: aarch64
-
+sha256sum -c MANIFEST_SHA256.txt
 ldd lib/libstereo_bolt.so | grep "not found"
-# expected: no output
-
-sha256sum lib/libstereo_bolt.so \
-  weights/obb_plus_halcon_seg_1024_fp16.rknn
+# 第二条命令预期无输出
 ```
 
-期望哈希：
+关键文件预期 SHA256：
 
 ```text
-39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885  lib/libstereo_bolt.so
-4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72  weights/obb_plus_halcon_seg_1024_fp16.rknn
+5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd  lib/libstereo_bolt.so
+b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169  weights/model_20260713T084621+0000_c732327c.rknn
+d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de  config/config.rk3588.mainline.yaml
 ```
 
-## 调用
-
-生产环境推荐：
-
-1. 用 `sb_default_params()` 初始化 `StereoBoltParamsC`。
-2. 按 `DELIVERY.md` 设置四帧平面参数。
-3. 用 `sb_create_ex()` 传入标定矩阵、RKNN字节和参数。
-4. 12MP Mono8 原图调用 `sb_process_bolt_module_buffers()`。
-5. 2x2 binned Mono8 图像调用 `sb_range_bolt_binned()`。
-6. 每帧检查返回码、`success/found`、数量与 `confidence`。
-
-离线可使用：
-
-```c
-StereoBoltCtx* ctx = sb_create("config/config.rk3588.selected4.top_plane.yaml");
-```
-
-要求当前工作目录为解包根目录，使配置中的 `calib/` 和 `weights/` 相对路径可解析。
-
 ## 四帧板端复验
 
-一键脚本先用 `validation/c_example_centerline` 验证规范四帧YAML的 `sb_create()`
-路径，再用 `validation/selected4_delivery_validate` 验证 `sb_create_ex()`、精测和测距路径；
-两者的算法调用都走公共 C ABI。
-四组左右眼原始图像已放在 `validation/inputs/`，文件哈希同时记录于
-`validation/input_sha256.csv` 和整包 `MANIFEST_SHA256.txt`。
-
 ```bash
-validation/run_selected4.sh
+bash validation/run_selected4.sh
 ```
 
-每帧应出现：
+脚本会分别执行 YAML 文件接口和显式模型 buffer 接口，并检查 19、20、28、43 四帧。每帧应包含：
 
 ```text
 PRECISE ... success=1 yolo_left=8 yolo_right=8 pairs=8 bolts=8
@@ -75,5 +49,18 @@ RANGE ... found=1 bolts=8 status=ok
 VERDICT=PASS
 ```
 
-验收程序必须通过本包 `lib/` 中的 `.so` 运行，不应加载系统中的另一份 `libstereo_bolt.so`。
-脚本返回码为 `0` 且最后一行是 `PACKAGE_REVERIFY_PASS` 才表示整包验收通过。
+最终必须出现：
+
+```text
+=== PACKAGE_REVERIFY_PASS ===
+```
+
+## 原接口调用
+
+文件入口保持不变：
+
+```c
+StereoBoltCtx* ctx = sb_create("config/config.rk3588.mainline.yaml");
+```
+
+生产 buffer 入口仍使用 `sb_create_ex()`、`sb_process_bolt_module_buffers()` 和 `sb_range_bolt_binned()`；调用方只需继续包含 `include/stereo_bolt/c_api.h`。配置中的模型和标定路径均相对于解包根目录解析。
diff --git a/AppAlgo/stereo_bolt_delivery/MANIFEST_SHA256.txt b/AppAlgo/stereo_bolt_delivery/MANIFEST_SHA256.txt
index 80844ac4..b30fab78 100644
--- a/AppAlgo/stereo_bolt_delivery/MANIFEST_SHA256.txt
+++ b/AppAlgo/stereo_bolt_delivery/MANIFEST_SHA256.txt
@@ -1,15 +1,13 @@
-5841f97fbee3588bc46d0be475cadf62daabf70acfe861c8df6b8bb9b457fac0  ABI_FINGERPRINT.txt
-ed812399471c2c1175c05464aaeb91af11abefca5518a264eb24a86786e953af  CHANGELOG.txt
-fcdcf495c25f7061157099fea2910152f9f67f839fd51d295a559e473619437b  DELIVERY.md
-56f97990ab8cf20da86c70b264b12c5627b32cfe723651376578efebcbe9ba76  DEPENDENCIES.md
-33bb0937be783f2640756ea918283259aa6c998e9829459281aedc35b07b43f6  INSTALL_3588.md
-be5ee392a1cb23289dd2b78da8fd7db31f27075ca9faa8196e1d0dd7628d5e74  SELECTED4_PROVENANCE.txt
+89c6f612e52836a859c85149b07235920605f20a5b4283cd2862535d04674b7b  ABI_FINGERPRINT.txt
 751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4  calib/stereo_calib_20260621_202857_ascii.xml
-6b184643f2f7366784c69070d8d91c48224ef5b10f823db3669f7794e70e2688  config/config.rk3588.12mp.yaml
-6b184643f2f7366784c69070d8d91c48224ef5b10f823db3669f7794e70e2688  config/config.rk3588.selected4.top_plane.yaml
+5f95e521e6def0422c85a1e838a9bfea8e27c3966d62fa68c0c1e7eca15e8817  CHANGELOG.txt
+d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de  config/config.rk3588.mainline.yaml
+ca089bc3f0d6df0dbb580dd8142482eef691bb31639940f5679fd122e1df8583  DELIVERY.md
+56f97990ab8cf20da86c70b264b12c5627b32cfe723651376578efebcbe9ba76  DEPENDENCIES.md
 afe649708e932b0792f6a14f1c4cb4b26c9f37b7c074f65ebb4ff2e08bc8c0db  example/CMakeLists.txt
 a1dc401e981cec1ad998f70e0e30742860b6e946923e0779b3fa075b474fd6d3  example/main.c
-daec54740b01bf9cbabb35c385cc7d466919682f451f4a87aa4aed1c83509752  include/stereo_bolt/c_api.h
+61a56da934fe4ed1fb7e98a4d145aeaf1789c56a8494ccc9bec193cf9701c163  include/stereo_bolt/c_api.h
+81a2eeeb282ec2656be19cf20e3f48e342a09e4520fdfff665e182ccd822c5fd  INSTALL_3588.md
 1a7af6af1e5a85091a8f9bf1878cdb34241cc27ea07953a44275e35e0a9b261a  lib/libopencv_calib3d.so.4.5
 aa68e645c38b3aa83889407653a5bd6467dd066a3409da9309ea943cb634dc9c  lib/libopencv_core.so.4.5
 6ad9d2668ec996903e5c16f6b71017f90d6ca494b0e6b53435a6d899ba786633  lib/libopencv_dnn.so.4.5
@@ -18,8 +16,9 @@ d101fbd9259265823a57955ca3200f2ee287ff97675aa464fa5395338be485b2  lib/libopencv_
 95499c6aa8367802cb8edf1157dc8cfa2d39458b81d8b94c48330ac4df23b927  lib/libopencv_imgcodecs.so.4.5
 c910fad80ca0bb88751fe445e270e0e2d02d5d5e4a0dbea4ddecc7d2d9578df4  lib/libopencv_imgproc.so.4.5
 d31fc19c85b85f6091b2bd0f6af9d962d5264a4e410bfb536402ec92bac738e8  lib/librknnrt.so
-39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885  lib/libstereo_bolt.so
-83ac931940e9d41317659cce51b62f949d6613ec3f5861a43f81ed2ba3b1d7fa  validation/c_example_centerline
+5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd  lib/libstereo_bolt.so
+f38487a339214db6472bf0710a4de8792072edf94da9cbbe8fd547859263c13e  SELECTED4_PROVENANCE.txt
+59bccb6c248b447de17849ed42c7f3155753420b46f9a15e99df4bce32f6c5ec  validation/c_example_centerline
 f905c1476734d0be268a33862d82255f54104bdb6211428ac3f72ff6340d1bf3  validation/c_example_centerline.c
 9d33f942045c39408b7086ff1108f3593e5056b9eb82e023880f7f377fe69890  validation/input_sha256.csv
 b5b68722ef7cefb79d75f698838bfe869f8f1bc611290a34237bd0ec51616afc  validation/inputs/left_19.bmp
@@ -30,9 +29,9 @@ b5b68722ef7cefb79d75f698838bfe869f8f1bc611290a34237bd0ec51616afc  validation/inp
 019276576ff18d925d204aa7a1b149194a66b6e45a0382561087941fb18e772c  validation/inputs/right_20.bmp
 28676009b052c88bf4555f9073df019dac1ad2e240d591e74b51596dd91038b3  validation/inputs/right_28.bmp
 d833e99a5cc468e860ce553ba0e8e2c4441d93a0584ad44190dbdbc3abf6f2a7  validation/inputs/right_43.bmp
-171a3ae990eed9db922fa53194b9c64dae2f35499caf7a2de3fad243ce89b5e6  validation/run_selected4.sh
-5478b00694670607e0b670d76fcf60a42c71d02085902c8b098faa311d12d313  validation/selected4_delivery_validate
-465bf5b8d5492881f0c8b0e868c865dcb0db4fe8e2018ff4565e6b68b6e8da5a  validation/selected4_delivery_validate.cpp
-5f5e022dd2b4f86e2c9a34f707010d8f6687fb3e7d032c2c311a8b9af4d964a5  validation/selected4_package_reverify.log
-525fca05145e2bc44c8548fc7bf763ae0133adb2b4c7fb77143a35c0fbcbab6c  validation/selected4_validation_final.log
-4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72  weights/obb_plus_halcon_seg_1024_fp16.rknn
+3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810  validation/mainline_package_reverify.log
+6a5bc63ef045917a81d0a3e0cab2c45943b129e81c182eef6a942a89be23ff6f  validation/run_selected4.sh
+78911c1b12b6c91dcc0f4b36e94eedd5868d3b9dd3b1f069dc0558cae7e4be47  validation/selected4_delivery_validate
+863ed4022dd57806ba5ee8d59ded703ae9b86a835328eafc2fc218319cb7fbd8  validation/selected4_delivery_validate.cpp
+ccf250e6e7d0bfb4b6d06200009b570a96b2fad0236b30ed032e510bba839a10  validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
+b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169  weights/model_20260713T084621+0000_c732327c.rknn
diff --git a/AppAlgo/stereo_bolt_delivery/SELECTED4_PROVENANCE.txt b/AppAlgo/stereo_bolt_delivery/SELECTED4_PROVENANCE.txt
index 7f596ce8..4fc06423 100644
--- a/AppAlgo/stereo_bolt_delivery/SELECTED4_PROVENANCE.txt
+++ b/AppAlgo/stereo_bolt_delivery/SELECTED4_PROVENANCE.txt
@@ -1,84 +1,79 @@
-RK3588 SELECTED4 TOP + SUPPORT-PLANE RELEASE PROVENANCE
-=======================================================
+RK3588 MAINLINE SELECTED4 RELEASE PROVENANCE
+============================================
 
 Release identity
 ----------------
-Name: selected4-top-plane-rk3588-v2
-Validated stereo frames: 19, 20, 28 and 43
-Acceptance target per frame: left YOLO=8, right YOLO=8, pairs=8,
+Name: mainline-selected4-direct-rknn-v3
+Date: 2026-07-14
+Fixed board acceptance frames: 19, 20, 28 and 43
+Acceptance per frame: left YOLO=8, right YOLO=8, pairs=8,
 precise bolts=8 and ranging bolts=8.
 
+Algorithm route
+---------------
+Stereo rectification -> direct YOLO OBB -> stereo ROI pairing -> 2D centerline
+and top -> sparse stereo 3D axis -> local SGBM support-plane -> axis/plane
+intersection -> axial height.
+
+Backends:
+- Windows: OpenCV DNN directly, ONNX model.
+- RK3588: RKNN Runtime directly, RKNN model.
+- AI Studio Runtime wrapper: removed from source, build and delivery.
+
 Algorithm library
 -----------------
 File: lib/libstereo_bolt.so
-SHA256: 39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885
+SHA256: 5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd
 ELF: AArch64
-Build ID: 14a8822d90f2e5334d2f3ec4c632972047df992d
+Build ID: 79fbed2add268e6ceadad58e1e8f93731c844907
+Cross toolchain: aarch64-linux-gnu GCC 11
+Minimum glibc contract: GLIBC_2.35
+OpenCV contract: standard libopencv_*.so.4.5 SONAMEs
 
-The packaged file is byte-identical to the RK3588 build output at
-/home/linaro/stereo_bolt/build-selected4-rk3588/src/libstereo_bolt.so.
-The board build sources were byte-compared with the Windows workspace:
+Model/config/calibration
+------------------------
+Model: weights/model_20260713T084621+0000_c732327c.rknn
+SHA256: b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169
+Backend/task/input: RKNN / YOLO OBB / 1024x1024
+Confidence/IoU: 0.50 / 0.45
 
-src/centerline_match1d.cpp
-  8fea4c07f1ba0b5aafb5cf2ed9a337b60c725a626f29ae75a1a6e5ebe2087600
-src/centerline_measure.cpp
-  36b8c84e6f1a25fcb4ad05a57bb0cf521eb2e999451ce3d2b2ed3ea6754dbfa5
-src/c_api.cpp
-  89fff5766127308d03b9a238f956ef8f732492cbf1dd1229aac87c947fbc5cb0
-
-The binary contains the selected4 top-selection routes:
-- left_cap_pair_right_gradient_agree
-- left_gradient_right_cap_pair_agree
-- top_suspect_cap_near_edge_stereo_wide
-
-These routes prioritize complete cap far/near edge evidence over an isolated
-one-eye gradient. The reported 2D top is the bolt centerline intersection with
-the selected near-side top-cap edge. This behavior is compiled into the shared
-library; it is not selected by a YAML switch.
-
-Selected4 support-plane configuration
--------------------------------------
-Canonical file: config/config.rk3588.selected4.top_plane.yaml
-Compatibility alias: config/config.rk3588.12mp.yaml
-Both files are byte-identical.
-SHA256: 6b184643f2f7366784c69070d8d91c48224ef5b10f823db3669f7794e70e2688
-
-Required measurement values:
-- plane_use_sgbm: true
-- height_from_plane: true
-- plane_height_along_axis: true
-- plane_anchor_max_foot_gap_std_mm: 20.0
-- plane_sgbm_scale: 0.25
-- plane_max_samples: 40000
-
-The sb_create_ex validator injects the exact same values through
-StereoBoltParamsC. The C API wiring for these values is part of the packaged
-libstereo_bolt.so.
-
-RKNN model and calibration
---------------------------
-Model: weights/obb_plus_halcon_seg_1024_fp16.rknn
-SHA256: 4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72
-Backend/task/input: RKNN / YOLO OBB / 1024x1024 FP16
-Confidence threshold: 0.25
+Config: config/config.rk3588.mainline.yaml
+SHA256: d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de
+Measurement: SGBM plane enabled, height from plane enabled, height along axis
+enabled, plane anchor gap std <= 20.0 mm, SGBM scale 0.25, max samples 40000.
 
 Calibration: calib/stereo_calib_20260621_202857_ascii.xml
 SHA256: 751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4
 
-Package-local acceptance paths
-------------------------------
-validation/run_selected4.sh runs both paths on all four packaged stereo pairs:
+Validators
+----------
+validation/c_example_centerline
+SHA256: 59bccb6c248b447de17849ed42c7f3155753420b46f9a15e99df4bce32f6c5ec
+Calls sb_create(YAML) and sb_process_bolt_module_files().
 
-1. validation/c_example_centerline uses sb_create() with the canonical YAML,
-   then sb_process_bolt_module_files(). It must print success=1 bolts=8.
-   RK3588 binary SHA256:
-   83ac931940e9d41317659cce51b62f949d6613ec3f5861a43f81ed2ba3b1d7fa
-   Packaged source: validation/c_example_centerline.c
-   Source SHA256:
-   f905c1476734d0be268a33862d82255f54104bdb6211428ac3f72ff6340d1bf3
-2. validation/selected4_delivery_validate uses sb_create_ex() with the packaged
-   calibration and RKNN bytes, then checks both the precise buffer API and the
-   ranging API. Each frame must print VERDICT=PASS.
+validation/selected4_delivery_validate
+SHA256: 78911c1b12b6c91dcc0f4b36e94eedd5868d3b9dd3b1f069dc0558cae7e4be47
+Calls sb_create_ex(model bytes), sb_process_bolt_module_buffers() and
+sb_range_bolt_binned(). Uses the same 0.50 confidence as the YAML route.
 
-The script also verifies MANIFEST_SHA256.txt and all dynamic dependencies. A
-zero exit code plus PACKAGE_REVERIFY_PASS is the release acceptance condition.
+RK3588 package-local acceptance
+-------------------------------
+Board: RK3588 AArch64 / Ubuntu 22.04
+Result: frames 19/20/28/43 passed both entry paths with 8 detections per eye,
+8 stereo pairs, 8 precise measurements and 8 ranging bolts.
+Terminal marker: PACKAGE_REVERIFY_PASS
+Log: validation/mainline_package_reverify.log
+SHA256: 3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810
+
+ABI compatibility
+-----------------
+Exact exported C symbol set, unchanged from the 2026-07-10 package:
+sb_create
+sb_create_ex
+sb_default_params
+sb_destroy
+sb_last_error
+sb_free_bolt_module_result
+sb_process_bolt_module_files
+sb_process_bolt_module_buffers
+sb_range_bolt_binned
diff --git a/AppAlgo/stereo_bolt_delivery/config/config.rk3588.12mp.yaml b/AppAlgo/stereo_bolt_delivery/config/config.rk3588.12mp.yaml
deleted file mode 100644
index 21ede64d..00000000
--- a/AppAlgo/stereo_bolt_delivery/config/config.rk3588.12mp.yaml
+++ /dev/null
@@ -1,243 +0,0 @@
-# ============================================================
-# 双目相机螺栓测量系统配置文件 (C++ port)
-#
-# 这是 Python 项目 e:/02_Modules/StereoVisionBoltMeasurement/config.yaml
-# 的镜像。两者必须保持参数一致——任何一边改值，另一边同步。
-# 数据路径用 Python 项目的绝对路径（见 paths 段末尾）。
-# ============================================================
-
-# ---------- 工作距离 ----------
-# 从标定推导视差范围，替代 SGBM 固定 [288,1024]。
-# z_min=1200 → disp_max≈1089，覆盖近处螺杆(disp~1060)。
-working_distance:
-  z_min_mm: 900
-  z_max_mm: 4000
-
-# ---------- 图像基本参数 ----------
-image:
-  width: 4096
-  height: 3000
-  channels: 1
-  expected_dtype: "uint8"
-  allowed_extensions: [".tiff", ".tif", ".bmp", ".png"]
-
-# ---------- 图像输入自检 ----------
-image_validation:
-  min_max_value: 10
-  max_saturation_ratio: 0.20
-
-# ---------- ChArUco 标定板参数 ----------
-charuco:
-  rows: 9
-  cols: 9
-  square_length_mm: 50.0
-  marker_length_mm: 37.0
-  dict_id: 11                    # DICT_6X6_1000
-  min_corners_per_image: 30
-
-# ---------- 标定模块参数 ----------
-calibration:
-  source: "xml"
-  xml_path: "calib/stereo_calib_20260621_202857_ascii.xml"
-  min_image_pairs: 15
-  max_skip_ratio: 0.30
-  max_single_rms: 0.40
-  max_stereo_rms: 0.80
-  expected_baseline_range: [80, 600]
-  use_fix_intrinsic: true
-
-# ---------- 校正模块参数 ----------
-# alpha=1.0 是硬约束，详见 CLAUDE.md 隐式决策 #1。
-rectification:
-  alpha: 1.0
-  interpolation: "cubic"
-  validation_feature_count: 500
-  validation_match_count: 10
-  epipolar_inlier_threshold_pixel: 5.0
-  min_epipolar_inlier_count: 3
-  max_epipolar_error_pixel: 5.0
-  min_valid_roi_ratio: 0.25
-
-# ---------- SGBM 立体匹配参数 ----------
-# min_disparity / num_disparities 依赖 f_rect·B；如标定改了必须重算。
-# 当前值假设 f_rect≈3190, B≈235mm（alpha=1.0 下）。
-sgbm:
-  min_disparity: 288
-  num_disparities: 736
-  block_size: 5
-  P1: 600
-  P2: 2400
-  disp12_max_diff: 1
-  uniqueness_ratio: 10
-  speckle_window_size: 100
-  speckle_range: 2
-  pre_filter_cap: 63
-  mode: "SGBM_3WAY"
-
-# ---------- WLS 滤波 ----------
-wls:
-  lambda_value: 8000.0
-  sigma_color: 1.5
-
-# ---------- 视差自检 ----------
-disparity_validation:
-  min_valid_pixel_ratio: 0.10
-  min_disparity_range: 50
-  max_nan_ratio: 0.90
-
-# ---------- 点云参数 ----------
-# z_min_mm / z_max_mm / expected_wd_range are FALLBACK only — when run_pipeline /
-# c_api are wired (the standard path) SceneRuntime derives the real reachable
-# Z range from (f_rect, baseline, sgbm.min_disparity, sgbm.num_disparities) and
-# overrides these values per frame. See docs/L_100_SCENE_HANDOFF.md §6.2 and
-# include/stereo_bolt/scene_runtime.hpp. Keep the fallback values conservative
-# enough to cover every supported workpiece distance.
-pointcloud:
-  z_min_mm: 600
-  z_max_mm: 3000
-  expected_wd_range: [600, 3000]
-  min_num_points: 50000
-  max_z_std_mm: 800
-  min_bbox_extent_x_mm: 200
-  min_bbox_extent_y_mm: 100
-  sor_nb_neighbors: 30
-  sor_std_ratio: 2.0
-  voxel_downsample_min_points: 500000
-  voxel_size_mm: 0.5
-  roi_mask:
-    enabled: false
-    method: "hsv_threshold"
-    hsv_lower: [0, 0, 210]
-    hsv_upper: [180, 50, 255]
-    morph_close_kernel: 15
-    dilate_px: 100
-    min_area_ratio: 0.02
-
-# ---------- 2D 检测（左图分割） ----------
-# mask_method: 决定 foam_mask(支撑面像素 mask) 怎么算
-#   "brightness" — 亮度阈值 + 最大连通域(只对原始低曝光泡沫板场景有效;
-#                   rectify ROI 外恒为 0,所以 mask 会等于 ROI 矩形)
-#   "ransac"     — 在 dense xyz_map 上 RANSAC 找主导平面,
-#                   把"到平面 < ransac.distance_thresh_mm"的像素当 mask
-# 默认 "brightness" 保 parity_tests 不变,新工业数据用 "ransac"
-bolt_detect_2d:
-  mask_method: "ransac"
-  foam_brightness_threshold: 70
-  foam_morph_open_kernel: 21
-  foam_dilate_px: 0
-  bbox_margin_px: 60
-  bolt_morph_close_kernel: 15
-  bolt_min_area_px: 800
-  min_bolts: 1
-  max_bolts: 0
-  bolt_exclude_dilate_px: 0      # 硬约束：默认 0，详见 CLAUDE.md 隐式决策 #5
-  ransac:
-    distance_thresh_mm: 8.0      # 点到平面距离 < 此值即视为 inlier(3σ 容忍下，
-                                  # frame 100 residual_std≈2.6 mm)
-    max_iterations: 200
-    min_inlier_ratio: 0.15       # 兜底：inlier 占比过低视作失败，自动回退
-    sample_stride: 4             # xyz_map 下采样步长(每 4×4 像素取 1 个 RANSAC 候选)
-    morph_close_kernel_px: 9     # mask 后处理：闭运算填洞 + 最大连通域
-
-# ---------- 参考平面 (SVD on foam mask) ----------
-plane:
-  max_residual_std_mm: 15.0
-  max_normal_to_axis_deg: 60
-  outlier_rejection_iterations: 5
-  outlier_mad_k: 2.5
-
-# ---------- 支撑面几何门 ----------
-# plane fit 后、bolt extract 前执行。把 bolt 的 3D 中心投影到主支撑面
-# inlier OBB, 超出 OBB 超过 margin_mm 的检测会被剔除并打印 WARN。
-# margin_mm 独立于 bolt.expected_diameter_mm, 避免混杂不同尺寸螺杆时
-# 几何门随螺杆规格隐式变宽/变窄。
-support_gate:
-  enabled: true
-  margin_mm: 10.0
-
-# ---------- 螺栓几何先验 ----------
-# 主路径(run_pipeline / c_api)对每颗 bolt 先跑 bbox_projection 得 h_est,
-# 然后 extract 内的 height 过滤改用 max(h_est × 1.3, h_est + 20 mm),
-# validate_measurements 改用 |measured - h_est| < bolt.height_tolerance_mm。
-# 下面的 max_height_mm / extract_height_filter_mm 只剩 fallback 作用 —— 当
-# bbox_projection 失败、h_est 不可得时才走全局上限。
-# 工件外形规格(expected_diameter_mm)仍是真正的先验,保留。
-bolt:
-  min_height_mm: 5.0
-  max_height_mm: 250.0                 # fallback ceiling (used only when h_est is unavailable)
-  extract_height_filter_mm: 200.0      # fallback filter (same condition)
-  height_tolerance_mm: 60.0            # |measured - h_est| 允许差;触发 validate_measurements 失败
-  expected_diameter_mm: 16.0
-  min_points_per_bolt: 50
-  max_axis_plane_angle_deg: 30
-  extract_fallback: "bbox_projection"   # 'none' | 'bbox_projection'; 后者用 YOLO bbox + 平面法向反解高度,处理 SGBM 在窄/反光螺杆上失败的情况
-
-# ---------- 几何测量 ----------
-measurement:
-  top_extraction_method: "percentile_on_axis"
-  top_percentile: 0.99
-  plane_use_sgbm: true
-  # true: 高度 = 螺杆顶点到支撑平面的法向距离; false: 高度 = 顶点到可见底沿拟合轴的长度
-  height_from_plane: true
-  plane_height_along_axis: true
-  plane_anchor_max_foot_gap_std_mm: 20.0
-  plane_sgbm_scale: 0.25
-  plane_max_samples: 40000
-
-# ---------- Diagnostics ----------
-diagnostics:
-  enabled: true
-  blind_strip_warn_ratio: 0.25
-  min_roi_pointcloud_coverage_ratio: 0.001
-
-# ---------- YOLO 螺栓检测 ----------
-# 注意 C++ 端走 ONNX：先在 Python 把 best_v4_finetune.pt 导出 .onnx。
-# dilate 量原本写成像素(50/30),跟距离和分辨率耦合。改成毫米后由
-# scene_runtime.cpp 在运行时用 pixels_per_mm(= f / Z_repr)换算成像素,
-# 不同工作距离 / 不同镜头不再需要手调。
-yolo:
-  enabled: true
-  model_path: "weights/obb_plus_halcon_seg_1024_fp16.rknn"
-  backend: "rknn"
-  task: "obb"
-  imgsz: 1024
-  conf: 0.25
-  dead_zone_min_valid_pts: 50
-  dead_zone_bbox_dilate_mm: 24.0   # = expected_diameter_mm × 1.5; 算 valid_xyz 前把 bbox 膨胀,救窄/反光螺杆
-  foam_bbox_dilate_mm: 16.0        # = expected_diameter_mm × 1.0; foam_mask 从 YOLO bbox 减去前用的膨胀量
-
-  # Experimental: keep sparse-global YOLO bolts only when right YOLO + local LR check pass.
-  local_stereo_fallback:
-    enabled: true
-    min_valid_points: 50
-
-# ---------- 评估通过判据 ----------
-evaluation:
-  height_max_mm: 2.0
-  height_p95_mm: 1.5
-  pair_max_mm: 2.0
-  pair_p95_mm: 1.5
-  repeatability_std_max_mm: 1.0
-  matching_max_distance_mm: 50.0
-
-# ---------- 流水线行为 ----------
-pipeline:
-  fail_fast: true
-  resume_from_checkpoint: true
-  parallel_frames: false
-  save_intermediate: false
-
-# ---------- 日志 ----------
-logging:
-  level: "INFO"
-  log_to_file: true
-  log_file: "outputs/logs/pipeline.log"
-
-# ---------- 路径 ----------
-# 项目自带数据集在 data/ 下,跟 Python 工程完全脱钩。
-paths:
-  calibration_dir: "data/calib"
-  test_dir: "E:/01_Projects/01_InProgress/hongchuang_bolt_detect_2026/image/0627-bolt-12mp"
-  groundtruth_csv: "data/groundtruth.csv"
-  output_dir: "outputs/macro257"
-  stereo_params_yaml: "outputs/macro257/stereo_params.yaml"
diff --git a/AppAlgo/stereo_bolt_delivery/config/config.rk3588.yaml b/AppAlgo/stereo_bolt_delivery/config/config.rk3588.yaml
index 3038bb12..b02bc561 100644
--- a/AppAlgo/stereo_bolt_delivery/config/config.rk3588.yaml
+++ b/AppAlgo/stereo_bolt_delivery/config/config.rk3588.yaml
@@ -177,7 +177,7 @@ measurement:
   top_extraction_method: "percentile_on_axis"
   top_percentile: 0.99
   plane_use_sgbm: true
-  # true: 高度 = 螺杆顶点到支撑平面的法向距离; false: 高度 = 顶点到可见底沿拟合轴的长度
+  # 主线定义：螺杆顶点沿拟合轴线到支撑平面的交点距离。
   height_from_plane: true
   plane_height_along_axis: true
   plane_anchor_max_foot_gap_std_mm: 20.0
@@ -201,7 +201,7 @@ yolo:
   backend: "rknn"
   task: "obb"
   imgsz: 1024
-  conf: 0.25
+  conf: 0.50
   dead_zone_min_valid_pts: 50
   dead_zone_bbox_dilate_mm: 24.0   # = expected_diameter_mm × 1.5; 算 valid_xyz 前把 bbox 膨胀,救窄/反光螺杆
   foam_bbox_dilate_mm: 16.0        # = expected_diameter_mm × 1.0; foam_mask 从 YOLO bbox 减去前用的膨胀量
diff --git a/AppAlgo/stereo_bolt_delivery/include/stereo_bolt/c_api.h b/AppAlgo/stereo_bolt_delivery/include/stereo_bolt/c_api.h
index 831692ec..433fc1d2 100644
--- a/AppAlgo/stereo_bolt_delivery/include/stereo_bolt/c_api.h
+++ b/AppAlgo/stereo_bolt_delivery/include/stereo_bolt/c_api.h
@@ -65,6 +65,9 @@ typedef struct {
     StereoBoltModuleRoiC left_roi;
     StereoBoltModuleRoiC right_roi;
     double height_mm;
+    /* Physical height endpoint. In support-plane height mode this is the
+     * centerline/datum-plane intersection, so |top_xyz-foot_xyz| equals the
+     * reported axial height. */
     StereoBoltPoint3d foot_xyz;
     StereoBoltPoint3d top_xyz;
     StereoBoltModuleLine3dC centerline;
diff --git a/AppAlgo/stereo_bolt_delivery/lib/libstereo_bolt.so b/AppAlgo/stereo_bolt_delivery/lib/libstereo_bolt.so
index dcdb9333..048a8b0c 100644
Binary files a/AppAlgo/stereo_bolt_delivery/lib/libstereo_bolt.so and b/AppAlgo/stereo_bolt_delivery/lib/libstereo_bolt.so differ
diff --git a/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md b/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
new file mode 100644
index 00000000..73423bc7
--- /dev/null
+++ b/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
@@ -0,0 +1,31 @@
+# Windows 7.3 全量验证摘要
+
+- 日期：2026-07-14
+- 数据：`7.3` 全部 79 组双目图像
+- 后端：OpenCV DNN 直接加载 `model_20260713T084621+0000_c732327c.onnx`
+- 阈值：confidence 0.50，期望螺栓数 8
+- 高度：三维顶点沿拟合螺杆轴线，到轴线/局部 SGBM 支撑平面交点的距离
+- 单元测试：29/29 PASS
+
+## 汇总
+
+| 指标 | 结果 |
+|---|---:|
+| 测距入口 found | 79/79 |
+| 完整 center/top | 53/79 |
+| 严格精测 success | 24/79 |
+| 检出数量正好为 8 | 26/79 |
+| 19/20/28/43 四帧精测 | 4/4，每帧 8 根 |
+
+失败原因计数：`count_mismatch=26`、`pairing_failed=15`、`measurement_failed=14`。
+
+严格成功帧：1, 2, 3, 4, 5, 6, 7, 15, 19, 20, 21, 22, 28, 29, 34, 36, 37, 43, 44, 49, 54, 60, 61, 66。
+
+## 四帧轴向高度（mm）
+
+- 19：188.573, 189.837, 185.532, 185.495, 179.350, 196.637, 194.677, 194.563
+- 20：193.177, 190.347, 184.390, 184.689, 190.018, 191.536, 192.582, 196.692
+- 28：189.841, 197.338, 195.061, 183.737, 175.843, 177.208, 171.662, 189.185
+- 43：209.407, 206.103, 204.961, 206.985, 196.889, 205.353, 207.920, 211.450
+
+结果图和 CSV 位于 Windows 工程输出目录 `outputs/win_7_3_mainline_20260714/`。本摘要明确保留全量失败情况；四帧验收通过不等于 79 帧全量泛化已经完成。
diff --git a/AppAlgo/stereo_bolt_delivery/validation/c_example_centerline b/AppAlgo/stereo_bolt_delivery/validation/c_example_centerline
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/1_leftImage.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/1_leftImage.bmp
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/1_rightImage.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/1_rightImage.bmp
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/2_leftImage.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/2_leftImage.bmp
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_leftImage.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_leftImage.bmp
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_leftImage_r.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_leftImage_r.bmp
deleted file mode 100644
index 6540ead8..00000000
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_rightImage.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_rightImage.bmp
deleted file mode 100644
index 8e54499d..00000000
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_rightImage_r.bmp b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/3_rightImage_r.bmp
deleted file mode 100644
index 16584264..00000000
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diff --git a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/推流图.png b/AppAlgo/stereo_bolt_delivery/validation/inputs_test/推流图.png
deleted file mode 100644
index 84ed4125..00000000
Binary files a/AppAlgo/stereo_bolt_delivery/validation/inputs_test/推流图.png and /dev/null differ
diff --git a/AppAlgo/stereo_bolt_delivery/validation/run_selected4.sh b/AppAlgo/stereo_bolt_delivery/validation/run_selected4.sh
index 292bb508..ac4eb8da 100644
--- a/AppAlgo/stereo_bolt_delivery/validation/run_selected4.sh
+++ b/AppAlgo/stereo_bolt_delivery/validation/run_selected4.sh
@@ -7,7 +7,7 @@ cd "$package_root"
 
 export LD_LIBRARY_PATH="$package_root/lib:${LD_LIBRARY_PATH:-}"
 
-echo "=== RK3588 selected4 package validation ==="
+echo "=== RK3588 selected4 mainline package validation ==="
 echo "arch=$(uname -m)"
 if [[ "$(uname -m)" != "aarch64" ]]; then
   echo "warning: this delivery binary targets aarch64" >&2
@@ -28,7 +28,7 @@ for frame in 19 20 28 43; do
   echo "--- CONFIG FRAME $frame ---"
   set +e
   config_output="$(validation/c_example_centerline \
-    config/config.rk3588.selected4.top_plane.yaml \
+    config/config.rk3588.mainline.yaml \
     "validation/inputs/left_${frame}.bmp" \
     "validation/inputs/right_${frame}.bmp" 8 2>&1)"
   config_rc=$?
@@ -45,7 +45,7 @@ for frame in 19 20 28 43; do
   echo "--- FRAME $frame ---"
   validation/selected4_delivery_validate \
     calib/stereo_calib_20260621_202857_ascii.xml \
-    weights/obb_plus_halcon_seg_1024_fp16.rknn \
+    weights/model_20260713T084621+0000_c732327c.rknn \
     "validation/inputs/left_${frame}.bmp" \
     "validation/inputs/right_${frame}.bmp" \
     "$frame" 8
diff --git a/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate b/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate
index 7d465248..f23f8681 100644
Binary files a/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate and b/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate differ
diff --git a/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate.cpp b/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate.cpp
index 7ba2f78a..ccf70ab6 100644
--- a/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate.cpp
+++ b/AppAlgo/stereo_bolt_delivery/validation/selected4_delivery_validate.cpp
@@ -88,7 +88,7 @@ int main(int argc, char** argv) {
     model.size = model_bytes.size();
     model.backend = SB_YOLO_BACKEND_RKNN;
     model.imgsz = 1024;
-    model.conf = 0.25f;
+    model.conf = 0.50f;
     model.iou = 0.45f;
 
     StereoBoltParamsC params = sb_default_params();
diff --git a/AppAlgo/stereo_bolt_delivery/weights/obb.rknn b/AppAlgo/stereo_bolt_delivery/weights/obb.rknn
index ff2a5d65..4f7217c2 100644
Binary files a/AppAlgo/stereo_bolt_delivery/weights/obb.rknn and b/AppAlgo/stereo_bolt_delivery/weights/obb.rknn differ
diff --git a/Device b/Device
index 9d4d2a22..76d33caa 160000
--- a/Device
+++ b/Device
@@ -1 +1 @@
-Subproject commit 9d4d2a2239b837c8934d1b1c76e3cab3810ff350
+Subproject commit 76d33caae885f1b47eec264f65f8e5f76cc131d0