螺杆算法更新
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杰仔
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@ -1,17 +1,17 @@
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# ABI fingerprint: RK3588 selected4 release
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# generated: 2026-07-10
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# ABI fingerprint: RK3588 mainline selected4 release
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# generated: 2026-07-14
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[artifacts]
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lib/libstereo_bolt.so SHA256:
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39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885
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weights/obb_plus_halcon_seg_1024_fp16.rknn SHA256:
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4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72
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5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd
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weights/model_20260713T084621+0000_c732327c.rknn SHA256:
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b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169
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[target]
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ELF 64-bit LSB shared object
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Machine: ARM AArch64
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Minimum glibc: GLIBC_2.35
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Build ID: 14a8822d90f2e5334d2f3ec4c632972047df992d
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Build ID: 79fbed2add268e6ceadad58e1e8f93731c844907
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[exported C symbols]
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sb_create
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@ -37,8 +37,6 @@ libgcc_s.so.1
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libc.so.6
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ld-linux-aarch64.so.1
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[ABI note]
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StereoBoltParamsC appends selected4 support-plane fields at the tail.
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The library uses struct_size to accept the previous shorter struct and fills
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new fields with legacy-safe defaults. Output structs and exported function
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signatures are unchanged.
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[compatibility]
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The exported C symbol list is exactly identical to the 2026-07-10 selected4
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delivery. No AI Studio Runtime wrapper library is required or referenced.
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@ -1,49 +1,33 @@
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CHANGELOG - libstereo_bolt selected4 delivery
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================================================
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CHANGELOG - libstereo_bolt mainline delivery
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=============================================
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## 2026-07-10 selected4-v2
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2026-07-14 mainline-selected4-v3
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---------------------------------
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- Promoted the selected4 axial top-to-support-plane measurement route to the
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default product path.
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- Removed the AI Studio Runtime wrapper route. Windows uses OpenCV DNN directly;
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RK3588 uses RKNN Runtime directly.
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- Switched the mainline ONNX/RKNN model to model_20260713T084621+0000_c732327c
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with a 0.50 confidence threshold.
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- Kept the published C ABI unchanged. The new and 2026-07-10 libraries export
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the exact same nine sb_* symbols.
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- Windows: 29/29 unit tests passed; all 79 stereo pairs from 7.3 were executed.
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Strict precise success was 24/79, complete center/top was 53/79 and ranging
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returned a result on 79/79. Acceptance frames 19/20/28/43 all passed 8/8.
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- Cross-built for AArch64 with GCC 11, glibc 2.35 contract and standard OpenCV
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4.5 SONAMEs. No platform-wrapper shared object appears in NEEDED.
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- RK3588 package-local manifest/dependency check passed. Frames 19/20/28/43
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passed both the YAML file path and explicit-model buffer/ranging path at 8/8;
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the captured log ends with PACKAGE_REVERIFY_PASS.
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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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2026-07-10 selected4-v2
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-----------------------
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- Packaged the original 19/20/28/43 image pairs and a package-local dual-entry
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RK3588 acceptance script.
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- Exercised both sb_create(YAML) and sb_create_ex(model bytes).
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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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Historical baseline retained
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----------------------------
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- 2026-07-09 selected4-v1: selected4 top evidence and support-plane axial height.
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- 2026-07-01 v4: precise partial-output contract rejects left-only 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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@ -1,124 +1,107 @@
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# RK3588 四帧优化版交付说明
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# RK3588 螺栓测量主线路交付说明
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## 交付范围
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## 交付定位
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本包是针对 `7.3` 数据集第 19、20、28、43 帧固化的 RK3588/AArch64 版本。
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验收条件为每帧：
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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。
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- 左眼 YOLO OBB = 8 根。
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- 右眼 YOLO OBB = 8 根。
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- 双目配对 = 8 根。
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- 精测接口输出 = 8 根。
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- 测距接口输出 = 8 根。
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推理后端只保留原有两条直接路线：
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本包不声称已在其他帧或其他相机装配上完成泛化验收。
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- Windows：OpenCV DNN 直接加载 ONNX。
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- RK3588：RKNN Runtime 直接加载 RKNN。
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## 固定版本
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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。
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- `lib/libstereo_bolt.so`
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SHA256: `39517a349fffc1be3da9ce565bbc5b1bde0b131a365a49eec65ec549e5e6d885`
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- `weights/obb_plus_halcon_seg_1024_fp16.rknn`
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SHA256: `4db0d4b30526a4e71d63fb4c0e6ecb2b735eb756636f79e8b1a1462781cd1e72`
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- YOLOv8n OBB, 1 class `bolt`, input `1024x1024`, RKNN FP16
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- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
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- 配置：`config/config.rk3588.12mp.yaml`
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- 四帧优化配置：`config/config.rk3588.selected4.top_plane.yaml`
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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、
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板端源码哈希及双入口验收关系见 `SELECTED4_PROVENANCE.txt`。
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## 算法路线
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## 主线算法
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```text
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stereo rectify
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-> RKNN YOLO OBB left/right
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-> YOLO OBB left/right
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-> stereo ROI pairing
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-> 2D bolt centerline and top endpoint
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-> sparse stereo 3D centerline
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-> SGBM support-plane fitting
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-> local SGBM support-plane fitting
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-> centerline/plane intersection
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-> bolt height and adjacent distances
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-> axial bolt height and adjacent distances
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```
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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；
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宽容度候选会标为 `suspect`，不伪装成高置信度。
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主线参数：
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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。
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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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- YOLO input `1024x1024`, confidence `0.50`, IoU `0.45`
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## C ABI
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## 固定交付件
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公共头文件只有 `include/stereo_bolt/c_api.h`。主要接口：
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- 算法库：`lib/libstereo_bolt.so`
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- SHA256 `5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd`
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- AArch64 Build ID `79fbed2add268e6ceadad58e1e8f93731c844907`
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- RKNN 模型：`weights/model_20260713T084621+0000_c732327c.rknn`
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- SHA256 `b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169`
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- 配置：`config/config.rk3588.mainline.yaml`
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- SHA256 `d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de`
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- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
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- SHA256 `751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4`
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- 公共头文件：`include/stereo_bolt/c_api.h`
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- SHA256 `61a56da934fe4ed1fb7e98a4d145aeaf1789c56a8494ccc9bec193cf9701c163`
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```c
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StereoBoltCtx* sb_create_ex(const StereoBoltCalibC*,
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const StereoBoltModelC*,
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const StereoBoltParamsC*);
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## 接口兼容
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sb_status_t sb_process_bolt_module_buffers(
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StereoBoltCtx*,
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const uint8_t* left, int lw, int lh, int lstride,
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const uint8_t* right, int rw, int rh, int rstride,
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int channels, int expected_count, StereoBoltModuleResultC* out);
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sb_status_t sb_range_bolt_binned(
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StereoBoltCtx*,
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const uint8_t* left, int lw, int lh, int lstride,
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const uint8_t* right, int rw, int rh, int rstride,
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int channels, StereoBoltRangeSummaryC* out,
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StereoBoltRangeBoltC* bolts, int max_bolts);
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```
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### `sb_create_ex` 四帧参数
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```c
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StereoBoltParamsC p = sb_default_params();
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p.wd_z_min_mm = 900.0;
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p.wd_z_max_mm = 4000.0;
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p.plane_use_sgbm = 1;
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p.height_from_plane = 1;
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p.plane_height_along_axis = 1;
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p.plane_anchor_max_foot_gap_std_mm = 20.0;
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p.plane_sgbm_scale = 0.25;
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p.plane_max_samples = 40000;
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```
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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；
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旧调用方不会被强制开启平面测高。
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兼容的文件方式：
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```c
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StereoBoltCtx* ctx = sb_create("config/config.rk3588.12mp.yaml");
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```
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## RK3588 验证结果
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| 帧 | 左YOLO | 右YOLO | 配对 | 精测 | 测距 | 代表距离/mm | 结果 |
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|---:|---:|---:|---:|---:|---:|---:|---|
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| 19 | 8 | 8 | 8 | 8 | 8 | 2298.843 | PASS |
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| 20 | 8 | 8 | 8 | 8 | 8 | 2286.521 | PASS |
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| 28 | 8 | 8 | 8 | 8 | 8 | 2555.266 | PASS |
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| 43 | 8 | 8 | 8 | 8 | 8 | 1893.487 | PASS |
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使用本包内图像和一键脚本得到的完整板端输出：
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`validation/selected4_package_reverify.log`。构建目录的原始验收输出另保留为
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`validation/selected4_validation_final.log`。
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四组左右眼原始图像已放入 `validation/inputs/`；文件名、大小和 SHA256 见
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`validation/input_sha256.csv`，也受整包 `MANIFEST_SHA256.txt` 校验保护。
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## 包内容
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导出的 9 个 C 符号与 `stereo_bolt_delivery_selected4_20260710` 完全一致：
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```text
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lib/ algorithm and bundled runtime libraries
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include/stereo_bolt/c_api.h public C ABI
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weights/ selected4 RKNN model
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calib/ stereo calibration
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config/ selected4 file-based config
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example/ minimal C consumer
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validation/ board validator, one-click script, logs and four stereo pairs
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SELECTED4_PROVENANCE.txt algorithm/config/model provenance and exact hashes
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ABI_FINGERPRINT.txt binary ABI and hashes
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INSTALL_3588.md install and verification commands
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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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```
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`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。
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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。
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## 验证边界
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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`。
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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。
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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：
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| 帧 | 左/右检测 | 配对 | 精测 | 测距 | 显式入口代表距离/mm |
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|---:|---:|---:|---:|---:|---:|
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| 19 | 8/8 | 8 | 8 | 8 | 2306.606 |
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| 20 | 8/8 | 8 | 8 | 8 | 2286.189 |
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| 28 | 8/8 | 8 | 8 | 8 | 2554.382 |
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| 43 | 8/8 | 8 | 8 | 8 | 1890.147 |
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真机原始输出保存在 `validation/mainline_package_reverify.log`，SHA256 为 `3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810`。
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板端一键验收脚本同时覆盖：
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1. `sb_create(YAML)` + 文件接口。
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2. `sb_create_ex(model bytes)` + buffer 精测接口 + 测距接口。
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3. 包内 MANIFEST 和动态依赖闭包。
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本次脚本返回码为 0，末行已出现 `PACKAGE_REVERIFY_PASS`。
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## 目录
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```text
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lib/ 主算法库、RKNN 与 OpenCV 运行库
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include/stereo_bolt/c_api.h 公共 C ABI
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weights/ 主线 RKNN 模型
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calib/ 双目标定
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config/ RK3588 主线配置
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example/ 纯 C 接入示例
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validation/ 双入口验收器、日志和四组原图
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ABI_FINGERPRINT.txt ELF/ABI 指纹
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SELECTED4_PROVENANCE.txt 算法、模型、配置与构建来源
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INSTALL_3588.md 安装和复验命令
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```
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@ -1,73 +1,47 @@
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# RK3588 安装与验证
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## 要求
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## 环境
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- CPU: AArch64 RK3588
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- OS: Ubuntu 22.04, glibc >= 2.35
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- NPU 驱动已安装
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- OpenCV 4.5.0 和 `librknnrt.so` 已随包放在 `lib/`
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- AArch64 RK3588
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- Ubuntu 22.04 / glibc >= 2.35
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- 可用的 RKNN NPU 驱动
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- 不需要安装系统 OpenCV；标准 SONAME 的 OpenCV 4.5.0 和 `librknnrt.so` 已包含在 `lib/`
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- 不需要 AI Studio Runtime
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## 解包
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```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。
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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"
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
|
||||
Binary file not shown.
@ -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。
|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
Before Width: | Height: | Size: 1.3 MiB |
@ -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
|
||||
|
||||
Binary file not shown.
@ -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();
|
||||
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2
Device
2
Device
@ -1 +1 @@
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||||
Subproject commit 9d4d2a2239b837c8934d1b1c76e3cab3810ff350
|
||||
Subproject commit 76d33caae885f1b47eec264f65f8e5f76cc131d0
|
||||
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Reference in New Issue
Block a user