147 lines
3.4 KiB
Markdown
147 lines
3.4 KiB
Markdown
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# ROI坐标转换问题解决方案
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## 问题描述
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评测结果中precision和recall都为0，经过诊断发现是**ROI坐标转换问题**。
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## 根本原因
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1. **检测结果使用ROI坐标系**：保存在`txt_results`中的检测框坐标是在ROI裁剪区域的坐标系中（尺寸: 704x352）
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2. **Ground Truth使用原图坐标系**：GT标注使用的是归一化的原图坐标（尺寸: 1920x1080）
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3. **坐标不匹配导致IoU=0**：两个坐标系不一致，所有框的IoU都是0，无法匹配
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## ROI参数
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针对`evalset_roi0`数据集：
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- **ROI区域**: [0, 120, 1920, 1080] (xyxy格式)
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- **ROI输入尺寸**: 704 x 352 (模型输入尺寸)
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- **原图尺寸**: 1920 x 1080
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### 坐标转换公式
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检测框从ROI坐标转换到原图坐标：
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```python
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# 1. 缩放
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scale_x = (1920 - 0) / 704 = 2.7273
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scale_y = (1080 - 120) / 352 = 2.7273
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x1_scaled = x1 * scale_x
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x2_scaled = x2 * scale_x
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y1_scaled = y1 * scale_y
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y2_scaled = y2 * scale_y
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# 2. 偏移
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x1_final = x1_scaled + 0
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x2_final = x2_scaled + 0
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y1_final = y1_scaled + 120
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y2_final = y2_scaled + 120
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```
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## 解决方案
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### 1. 修改DetectionParser
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在`parser.py`中添加ROI缩放和偏移支持：
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```python
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def __init__(self, roi_offset=None, roi_scale=None):
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self.roi_offset = roi_offset or (0, 0)
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self.roi_scale = roi_scale or (1.0, 1.0)
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```
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在解析2D框时应用转换：
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```python
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# 先缩放
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x1 *= self.roi_scale[0]
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x2 *= self.roi_scale[0]
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y1 *= self.roi_scale[1]
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y2 *= self.roi_scale[1]
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# 再偏移
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x1 += self.roi_offset[0]
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y1 += self.roi_offset[1]
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x2 += self.roi_offset[0]
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y2 += self.roi_offset[1]
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```
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### 2. 更新Evaluator和eval.py
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添加`roi_offset`和`roi_scale`参数传递。
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### 3. 更新命令行参数
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```bash
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--roi 0 120 1920 1080 # ROI区域
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--roi-input-size 704 352 # ROI输入尺寸
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```
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## 验证结果
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### 修复前
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```
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GT bbox range: x=[18.0, 1919.0], y=[465.0, 751.0]
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Det bbox range: x=[9.5, 704.6], y=[126.1, 236.8]
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IoU: 0.0000
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Matches: 0
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```
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### 修复后
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```
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GT bbox range: x=[18.0, 1919.0], y=[465.0, 751.0]
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Det bbox range (scaled): x=[25.9, 1921.6], y=[463.9, 765.8]
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Matches: 16/20
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First match IoU: 0.8397
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```
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### 评测结果（100帧测试）
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```
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2D Metrics:
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Precision: 0.9141
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Recall: 0.6105
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mAP: 0.2066
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3D Metrics:
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pedestrian: Lat=0.795m, Long=1.726m, Head=1.140rad (n=8)
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vehicle: Lat=0.987m, Long=1.731m, Head=0.247rad (n=995)
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```
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## 使用方法
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### 完整评测（81443帧）
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```bash
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bash eval_tools/run_evaluation_example.sh
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```
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### 快速测试（100帧）
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```bash
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bash eval_tools/run_evaluation_quick_test.sh
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```
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### 手动运行
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```bash
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python eval_tools/eval.py \
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--det-path /path/to/detections \
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--gt-path /path/to/gt \
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--output-dir results \
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--img-width 1920 \
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--img-height 1080 \
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--roi 0 120 1920 1080 \
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--roi-input-size 704 352
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```
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## 注意事项
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1. **ROI1的参数不同**：如果评测ROI1的结果，需要修改ROI参数
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2. **不同模型的输入尺寸可能不同**：根据实际模型调整`--roi-input-size`
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3. **大数据集评测耗时**：81443帧约需10-20分钟，建议先用quick test验证
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## 相关文件
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- `eval_tools/evaluator/parser.py` - 添加ROI转换逻辑
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- `eval_tools/evaluator/evaluator.py` - 传递ROI参数
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- `eval_tools/eval.py` - 命令行参数处理
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- `eval_tools/run_evaluation_example.sh` - 完整评测脚本
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- `eval_tools/run_evaluation_quick_test.sh` - 快速测试脚本
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