双目测距方案重构与其他小修改

utils/stereo_ranger/__init__.py

@@ -1,30 +1,72 @@
-"""stereo_ranger —— 双目稀疏目标测距（规格：docs/双目测距方案.md）。
+"""stereo_ranger —— 双目稀疏目标测距（规格：docs/双目测距技术路线.md）。
 
-纯算法包：输入校正后原生坐标系的左右目检测框，输出目标的 (Z, X, Y, R)
-与方位。不做目标识别、图像采集与立体校正；仅依赖标准库。
+纯算法包：输入校正后坐标系的同帧左右目检测框，输出目标距离记录（Z/R/D、
+虚拟双目中心方位、valid/confidence）。不做目标识别、图像采集与立体校正；
+仅依赖标准库。⚠ 全部数值参数为占位值，标定与地面验证完成前不得作为飞行
+控制决策依据（§12.3 红线）。
 """
 
 from .config import StereoConfig, load_from_json
-from .stereo_ranger import (
-    DISP_SOURCE_CENTER,
-    DISP_SOURCE_EDGE,
-    StereoRanger,
-    focal_from_hfov,
-    range_error_abs,
+from .consistency import ConsistencyMonitor, ConsistencyStatus
+from .distance_filter import DistanceFilter
+from .geometry import (
+    DELTA_D_PX,
+    RangeSolution,
+    ValidityDecision,
+    confidence_from_cost,
+    evaluate_validity,
+    forward_distance_m,
+    range_error_abs_m,
     range_error_rel,
+    solve_range,
+    virtual_center_px,
 )
-from .types import BBoxXYXY, Detection, RangeReport
+from .matching import GreedyMatcher, MatchPair, Matcher
+from .sampling import Disparity, SamplePoint, sample_point, select_disparity
+from .stereo_ranger import StereoRanger
+from .target_store import TargetStore
+from .types import (
+    BBoxXYXY,
+    Degradation,
+    Detection,
+    DetectionFrame,
+    DisparitySource,
+    Eye,
+    RangeRecord,
+)
+from .warn_throttle import WarnThrottle
 
 __all__ = [
     "BBoxXYXY",
-    "DISP_SOURCE_CENTER",
-    "DISP_SOURCE_EDGE",
+    "DELTA_D_PX",
+    "ConsistencyMonitor",
+    "ConsistencyStatus",
+    "Degradation",
     "Detection",
-    "RangeReport",
+    "DetectionFrame",
+    "Disparity",
+    "DisparitySource",
+    "DistanceFilter",
+    "Eye",
+    "GreedyMatcher",
+    "MatchPair",
+    "Matcher",
+    "RangeRecord",
+    "RangeSolution",
+    "SamplePoint",
     "StereoConfig",
     "StereoRanger",
-    "focal_from_hfov",
+    "TargetStore",
+    "ValidityDecision",
+    "WarnThrottle",
+    "confidence_from_cost",
+    "evaluate_validity",
+    "forward_distance_m",
     "load_from_json",
-    "range_error_abs",
+    "range_error_abs_m",
     "range_error_rel",
+    "sample_point",
+    "select_disparity",
+    "solve_range",
+    "virtual_center_px",
 ]