73 lines
1.9 KiB
Python
73 lines
1.9 KiB
Python
"""stereo_ranger —— 双目稀疏目标测距（规格：docs/双目测距技术路线.md）。
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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、
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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；
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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
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控制决策依据（§12.3 红线）。
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"""
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from .config import StereoConfig, load_from_json
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from .consistency import ConsistencyMonitor, ConsistencyStatus
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from .distance_filter import DistanceFilter
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from .geometry import (
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DELTA_D_PX,
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RangeSolution,
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ValidityDecision,
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confidence_from_cost,
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evaluate_validity,
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forward_distance_m,
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range_error_abs_m,
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range_error_rel,
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solve_range,
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virtual_center_px,
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)
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from .matching import GreedyMatcher, MatchPair, Matcher
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from .sampling import Disparity, SamplePoint, sample_point, select_disparity
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from .stereo_ranger import StereoRanger
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from .target_store import TargetStore
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from .types import (
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BBoxXYXY,
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Degradation,
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Detection,
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DetectionFrame,
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DisparitySource,
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Eye,
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RangeRecord,
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)
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from .warn_throttle import WarnThrottle
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__all__ = [
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"BBoxXYXY",
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"DELTA_D_PX",
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"ConsistencyMonitor",
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"ConsistencyStatus",
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"Degradation",
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"Detection",
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"DetectionFrame",
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"Disparity",
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"DisparitySource",
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"DistanceFilter",
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"Eye",
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"GreedyMatcher",
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"MatchPair",
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"Matcher",
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"RangeRecord",
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"RangeSolution",
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"SamplePoint",
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"StereoConfig",
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"StereoRanger",
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"TargetStore",
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"ValidityDecision",
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"WarnThrottle",
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"confidence_from_cost",
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"evaluate_validity",
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"forward_distance_m",
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"load_from_json",
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"range_error_abs_m",
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"range_error_rel",
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"sample_point",
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"select_disparity",
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"solve_range",
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"virtual_center_px",
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]
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