单目3D初始代码

eval_tools/class_config.py

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+"""
+Class configuration for the eval_tools evaluation framework.
+
+This is the single source of truth for all class definitions.
+To adapt the evaluator to a different class taxonomy, only edit this file.
+
+Current taxonomy matches ultralytics/cfg/datasets/mono3d_ground.yaml class_map.
+"""
+
+# ---------------------------------------------------------------------------
+# ID → display name  (used by GT parser, reports, logging)
+# Keep this aligned with the first-seen canonical name for each ID in
+# ultralytics/cfg/datasets/mono3d_ground.yaml:class_map.
+# ---------------------------------------------------------------------------
+CLASS_NAMES: dict[int, str] = {
+    0: "car",
+    1: "suv",
+    2: "pickup",
+    3: "medium_car",
+    4: "van",
+    5: "bus",
+    6: "truck",
+    7: "special_vehicle",
+    8: "unknown",
+    9: "pedestrian",
+    10: "bicyclist",
+    11: "bicycle",
+    12: "tricycle",
+    13: "traffic_sign",
+    14: "wheel",
+    15: "plate",
+    16: "face",
+}
+
+# Total number of classes
+NUM_CLASSES: int = len(CLASS_NAMES)
+
+# ---------------------------------------------------------------------------
+# Raw label string → ID  (used by detection result parser)
+# Supports all original annotation names that map to the same ID in
+# ultralytics/cfg/datasets/mono3d_ground.yaml:class_map.
+# ---------------------------------------------------------------------------
+CLASS_NAME_TO_ID: dict[str, int] = {
+    "car": 0,
+    "suv": 1,
+    "pickup": 2,
+    "medium_car": 3,
+    "van": 4,
+    "bus": 5,
+    "truck": 6,
+    "tanker": 6,
+    "large_truck": 6,
+    "construction_vehicle": 6,
+    "special_vehicle": 7,
+    "unknown": 8,
+    "pedestrian": 9,
+    "bicyclist": 10,
+    "motorcyclist": 10,
+    "bicycle": 11,
+    "motorcycle": 11,
+    "tricycle": 12,
+    "tricyclist": 12,
+    "traffic_sign": 13,
+    "wheel": 14,
+    "plate": 15,
+    "face": 16,
+}
+
+# ---------------------------------------------------------------------------
+# 3D-annotated class IDs
+#   face_3d_classes    [0-8]: vehicle-like classes with 4-face annotations
+#                             (51-col / full JSON face fields)
+#   complete_3d_classes[9-12]: pedestrian / rider / bike / trike classes with
+#                              whole-box 3D only (19-col labels)
+# ---------------------------------------------------------------------------
+FACE_3D_CLASSES: list[int] = [0, 1, 2, 3, 4, 5, 6, 7, 8]
+COMPLETE_3D_CLASSES: list[int] = [9, 10, 11, 12]
+CLASSES_3D: list[int] = FACE_3D_CLASSES + COMPLETE_3D_CLASSES
+
+# ---------------------------------------------------------------------------
+# Report labels: which 3D classes appear in evaluation reports, and how they
+# are labelled. vehicle_large / vehicle_small are legacy synthetic keys from
+# Metrics3D's class-0 size split; under the current taxonomy they are displayed
+# as CAR_LARGE / CAR_SMALL.
+# ---------------------------------------------------------------------------
+REPORT_3D_CLASS_LABELS: dict[str, str] = {
+    "car":           "CAR",
+    "vehicle_large": "CAR_LARGE",
+    "vehicle_small": "CAR_SMALL",
+    "suv":           "SUV",
+    "pickup":        "PICKUP",
+    "medium_car":    "MEDIUM_CAR",
+    "van":           "VAN",
+    "bus":           "BUS",
+    "truck":         "TRUCK",
+    "special_vehicle": "SPECIAL_VEHICLE",
+    "unknown":       "UNKNOWN",
+    "pedestrian":    "PEDESTRIAN",
+    "bicyclist":     "BICYCLIST",
+    "bicycle":       "BICYCLE",
+    "tricycle":      "TRICYCLE",
+}
+
+# Ordered list of 3D class keys for iteration in comparison/report scripts.
+# Includes the legacy size-split sub-buckets immediately after "car".
+REPORT_3D_CLASS_KEYS: list[str] = list(REPORT_3D_CLASS_LABELS.keys())