"""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 .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 .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",
    "DELTA_D_PX",
    "ConsistencyMonitor",
    "ConsistencyStatus",
    "Degradation",
    "Detection",
    "DetectionFrame",
    "Disparity",
    "DisparitySource",
    "DistanceFilter",
    "Eye",
    "GreedyMatcher",
    "MatchPair",
    "Matcher",
    "RangeRecord",
    "RangeSolution",
    "SamplePoint",
    "StereoConfig",
    "StereoRanger",
    "TargetStore",
    "ValidityDecision",
    "WarnThrottle",
    "confidence_from_cost",
    "evaluate_validity",
    "forward_distance_m",
    "load_from_json",
    "range_error_abs_m",
    "range_error_rel",
    "sample_point",
    "select_disparity",
    "solve_range",
    "virtual_center_px",
]