单目3D初始代码

eval_tools/configs/eval_config_yolov26s-roi1.yaml

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+# Evaluation Configuration — ROI1
+# Same as eval_config_yolov26s-roi0.yaml but evaluates only roi_id="1" detections
+# ROI1: narrow crop 768×352, centered on vanishing point (crop_center_mode=vxvy)
+
+dataset:
+  det_path: "/data1/dongying/Mono3d/G1Q3/model_inference/KPI/DL_KPI_SCENE/model_20260403"  # Root directory containing case folders with txt_results
+  gt_path: "/data1/dongying/Mono3d/G1Q3/dataset_for_evaluation/DL_KPI_SCENE"        # Root directory containing case folders with labels
+  path_depth: 1
+  det_format: "json"
+  gt_format: "json"
+  det_subdir: "predictions/roi1"  # Relative to each case directory; used before generic json_results/predictions probing
+  det_roi_filter: "1"  # Only evaluate detections with roi_id="1"; set to null to evaluate all ROIs together
+
+# Image properties
+image:
+  width: 1920
+  height: 1080
+
+# Model configuration for GT filtering
+model:
+  input_size: 768  # Model input width (used for GT min box size calculation)
+  min_box_size_at_input_scale: 8
+  # GT filtering threshold: min_box_size = 8 * 768 / 768 = 8.0 pixels at original scale (ROI1 is 768×352)
+
+# Performance settings
+performance:
+  num_workers: 32
+
+# ROI Ground Truth Processing
+roi_gt:
+  enabled: true
+  calib_root: "/data1/dongying/Mono3d/G1Q3/dataset_for_evaluation/DL_KPI_SCENE"  # Root path to calibration files (camera4.json)
+  roi_config: [768, 352]   # ROI1 crop size (narrow, centered on VP, crop_center_mode=vxvy)
+  roi_bottom_offset: 0
+
+# Class definitions
+classes:
+  3d_classes: [0, 1, 2, 3, 4, 5, 6, 7, 8]
+  2d_classes: [9, 10, 11, 12]
+  class_names:
+    0: "vehicle"
+    1: "bus"
+    2: "truck"
+    3: "tanker"
+    4: "unknown"
+    5: "pedestrian"
+    6: "bicycle"
+    7: "motorcyclist"
+    8: "tricycle"
+    9: "traffic_sign"
+    10: "wheel"
+    11: "plate"
+    12: "face"
+
+# Matching parameters
+matching:
+  iou_threshold: 0.5
+
+# 2D metrics configuration
+metrics_2d:
+  enabled: true
+  conf_threshold: 0.27
+  ap_method: "voc2010"
+  distance_ranges:
+    - [0, 30]
+    - [30, 60]
+    - [60, 100]
+    - [100, 999]
+  lateral_roi: [-15, 15]
+
+# 3D metrics configuration
+metrics_3d:
+  enabled: true
+  coordinate_system: "camera"
+  heading_tolerance: "both"
+  distance_ranges:
+    - [0, 10]
+    - [10, 20]
+    - [20, 30]
+    - [30, 40]
+    - [40, 50]
+    - [50, 60]
+    - [60, 70]
+    - [70, 80]
+    - [80, 90]
+    - [90, 100]
+    - [100, 999]
+  lateral_distance_ranges:
+    - [-50, -40]
+    - [-40, -30]
+    - [-30, -20]
+    - [-20, -10]
+    - [-10, 0]
+    - [0, 10]
+    - [10, 20]
+    - [20, 30]
+    - [30, 40]
+    - [40, 50]
+
+# Output configuration
+output:
+  save_path: "eval_results_multiprocess/yolov5s/{timestamp}"
+  formats: ["json", "txt"]
+  print_details: true
+  per_case_reports: true