210 lines
7.6 KiB
Python
210 lines
7.6 KiB
Python
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"""
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批量可视化脚本
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用途：批量读取多帧图像和对应的真值标签文件，生成可视化结果
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使用方法：
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python scripts_for_gt/visualize_batch.py \
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--image-dir /path/to/images \
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--label-dir /path/to/labels \
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--output output_dir \
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--roi 704 352 \
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--virtual-fx 500 \
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--max-samples 100
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"""
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import argparse
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from pathlib import Path
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import sys
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# Add project root to path
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FILE = Path(__file__).resolve()
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ROOT = FILE.parents[1]
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if str(ROOT) not in sys.path:
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sys.path.append(str(ROOT))
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from visualize_single_frame import (
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DEFAULT_CLASS_NAMES,
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format_target_classes,
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resolve_target_class_ids,
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visualize_single_frame,
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)
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def resolve_label_path(label_dir, image_stem, preferred_extension=None):
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"""按同名文件自动查找标签，支持 .txt / .json。"""
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candidate_extensions = []
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if preferred_extension:
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normalized_extension = preferred_extension if preferred_extension.startswith(".") else f".{preferred_extension}"
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candidate_extensions.append(normalized_extension)
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for extension in (".txt", ".json"):
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if extension not in candidate_extensions:
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candidate_extensions.append(extension)
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for extension in candidate_extensions:
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candidate_path = label_dir / f"{image_stem}{extension}"
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if candidate_path.exists():
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return candidate_path
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return None
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def visualize_batch(
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image_dir,
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label_dir,
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output_dir,
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calib_dir=None,
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roi_size=None,
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virtual_fx=None,
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ori_img_size=None,
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max_samples=None,
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sample_interval=1,
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file_extension=".jpg",
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label_extension=None,
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target_class_ids=None,
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):
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"""批量可视化图像
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Args:
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image_dir: 图像目录
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label_dir: 标签目录
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output_dir: 输出目录
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calib_dir: 标定文件目录（包含L2_calib/camera4.json）
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roi_size: ROI尺寸 (width, height)
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virtual_fx: 虚拟焦距
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ori_img_size: 原始图像尺寸 (width, height)
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max_samples: 最大处理样本数
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sample_interval: 采样间隔，每隔 N 帧处理一帧
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file_extension: 图像文件扩展名
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label_extension: 标签文件扩展名，默认自动在 .txt/.json 中查找
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target_class_ids: 目标类别ID集合，None表示不过滤
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"""
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image_dir = Path(image_dir)
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label_dir = Path(label_dir)
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output_dir = Path(output_dir)
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# 获取所有图像文件
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image_files = sorted(image_dir.glob(f"*{file_extension}"))
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if sample_interval > 1:
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image_files = image_files[::sample_interval]
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if max_samples is not None:
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image_files = image_files[:max_samples]
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print(f"找到 {len(image_files)} 个图像文件（采样间隔={sample_interval}）")
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# 类别名称
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names = DEFAULT_CLASS_NAMES.copy()
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if target_class_ids is not None:
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print(f"类别过滤: {format_target_classes(target_class_ids, names=names)}")
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success_count = 0
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error_count = 0
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for i, image_path in enumerate(image_files):
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print(f"\n[{i+1}/{len(image_files)}] 处理: {image_path.name}")
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# 查找对应的标签文件
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label_path = resolve_label_path(label_dir, image_path.stem, preferred_extension=label_extension)
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if label_path is None:
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expected_extensions = [label_extension] if label_extension else [".txt", ".json"]
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print(f" 警告：未找到标签文件 {image_path.stem}，已检查扩展名: {expected_extensions}")
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error_count += 1
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continue
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# 查找对应的标定文件
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if calib_dir is not None:
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# 兼容 L2_calib 子目录和直接放在 calib/ 下两种结构
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calib_path = Path(calib_dir) / "L2_calib" / "camera4.json"
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if not calib_path.exists():
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calib_path = Path(calib_dir) / "camera4.json"
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else:
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# 自动推断：依次尝试两种常见目录结构
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base = image_path.parent.parent
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calib_path = base / "calib" / "L2_calib" / "camera4.json"
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if not calib_path.exists():
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calib_path = base / "calib" / "camera4.json"
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if not calib_path.exists():
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calib_path = None
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print(f" 警告：未找到标定文件，将仅进行2D可视化")
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try:
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# 可视化单帧
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sample_output_dir = output_dir
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visualize_single_frame(
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image_path=str(image_path),
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label_path=str(label_path),
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output_dir=str(sample_output_dir),
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calib_path=str(calib_path) if calib_path else None,
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roi_size=roi_size,
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virtual_fx=virtual_fx,
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ori_img_size=ori_img_size,
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names=names,
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save_types='combined', # 只保存合成图
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target_class_ids=target_class_ids,
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)
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success_count += 1
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except Exception as e:
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print(f" 错误：{e}")
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error_count += 1
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print(f"\n处理完成！")
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print(f" 成功: {success_count}")
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print(f" 失败: {error_count}")
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print(f" 输出目录: {output_dir}")
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def parse_args():
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parser = argparse.ArgumentParser(description="批量可视化真值标签")
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parser.add_argument("--image-dir", type=str, required=True, help="图像目录")
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parser.add_argument("--label-dir", type=str, required=True, help="标签目录")
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parser.add_argument("--output", type=str, default="./gt_visualization_batch", help="输出目录")
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parser.add_argument("--calib-dir", type=str, default=None,
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help="标定文件目录（包含L2_calib/camera4.json）")
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parser.add_argument("--roi", type=int, nargs=2, default=None, metavar=("WIDTH", "HEIGHT"),
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help="ROI尺寸（宽 高），如: --roi 704 352")
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parser.add_argument("--virtual-fx", type=float, default=None,
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help="虚拟焦距，用于深度归一化")
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parser.add_argument("--ori-img-size", type=int, nargs=2, default=None, metavar=("WIDTH", "HEIGHT"),
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help="原始图像尺寸（宽 高）")
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parser.add_argument("--max-samples", type=int, default=None,
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help="最大处理样本数")
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parser.add_argument("--sample-interval", type=int, default=1,
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help="采样间隔，每隔 N 帧处理一帧（默认1，即处理全部）")
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parser.add_argument("--file-extension", type=str, default=".jpg",
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help="图像文件扩展名")
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parser.add_argument("--label-extension", type=str, default=None,
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help="标签文件扩展名，默认自动在 .txt/.json 中查找")
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parser.add_argument("--classes", type=str, nargs="+", default=None,
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help="仅可视化指定类别，支持类别名/类别ID，可传多个值或逗号分隔")
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return parser.parse_args()
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def main():
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args = parse_args()
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target_class_ids = resolve_target_class_ids(args.classes, names=DEFAULT_CLASS_NAMES)
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visualize_batch(
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image_dir=args.image_dir,
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label_dir=args.label_dir,
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output_dir=args.output,
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calib_dir=args.calib_dir,
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roi_size=tuple(args.roi) if args.roi else None,
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virtual_fx=args.virtual_fx,
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ori_img_size=tuple(args.ori_img_size) if args.ori_img_size else None,
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max_samples=args.max_samples,
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sample_interval=args.sample_interval,
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file_extension=args.file_extension,
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label_extension=args.label_extension,
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target_class_ids=target_class_ids,
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)
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if __name__ == "__main__":
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main()
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