单目3D初始代码

tools/pdcl_inference/run_batch_two_roi_infer.sh

@@ -0,0 +1,75 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+PYTHON_BIN="${PYTHON_BIN:-python}"
+
+# Launcher for batch exporting PDCL clips and running two-ROI inference.
+#
+# Usage:
+#   bash tools/pdcl_inference/run_batch_two_roi_infer.sh
+#
+# Common env overrides:
+#   CLIP_LIST_FILE, EXPORT_ROOT, VISUALIZATION_ROOT
+#
+# Optional env overrides:
+#   OUTPUT_PREFIX, CAMERA_TOPIC, MAX_FRAMES_PER_CLIP, CALIB_FILE,
+#   ROI0_MODEL, ROI1_MODEL, DEVICE, LIMIT_CLIPS, SKIP_DONE, HALF, EXTRA_ARGS
+
+CLIP_LIST_FILE="${CLIP_LIST_FILE:-${SCRIPT_DIR}/clips_aeb.txt}"
+EXPORT_ROOT="${EXPORT_ROOT:-${SCRIPT_DIR}/clip_exports}"
+OUTPUT_PREFIX="${OUTPUT_PREFIX:-clip_export}"
+CAMERA_TOPIC="${CAMERA_TOPIC:-camera4}"
+MAX_FRAMES_PER_CLIP="${MAX_FRAMES_PER_CLIP:-0}"
+CALIB_FILE="${CALIB_FILE:-}"
+VISUALIZATION_ROOT="${VISUALIZATION_ROOT:-${SCRIPT_DIR}/visualization_aeb_20260403}"
+ROI0_MODEL="${ROI0_MODEL:-${PROJECT_ROOT}/runs/detect/mono3d_roi0_20260403_epoch99.pt}"
+ROI1_MODEL="${ROI1_MODEL:-${PROJECT_ROOT}/runs/detect/mono3d_roi1_20260403_epoch99.pt}"
+DEVICE="${DEVICE:-0}"
+LIMIT_CLIPS="${LIMIT_CLIPS:-0}"
+SKIP_DONE="${SKIP_DONE:-1}"
+HALF="${HALF:-0}"
+EXTRA_ARGS="${EXTRA_ARGS:-}"
+
+CMD=(
+  "${PYTHON_BIN}" "${PROJECT_ROOT}/tools/pdcl_inference/run_batch_two_roi_infer.py"
+  --clip-list-file "${CLIP_LIST_FILE}"
+  --export-root "${EXPORT_ROOT}"
+  --output-prefix "${OUTPUT_PREFIX}"
+  --camera-topic "${CAMERA_TOPIC}"
+  --max-frames-per-clip "${MAX_FRAMES_PER_CLIP}"
+  --visualization-root "${VISUALIZATION_ROOT}"
+  --roi0-model "${ROI0_MODEL}"
+  --roi1-model "${ROI1_MODEL}"
+  --device "${DEVICE}"
+)
+
+if [[ -n "${CALIB_FILE}" ]]; then
+  CMD+=(--calib-file "${CALIB_FILE}")
+fi
+
+if [[ "${LIMIT_CLIPS}" != "0" ]]; then
+  CMD+=(--limit-clips "${LIMIT_CLIPS}")
+fi
+
+if [[ "${SKIP_DONE}" == "1" ]]; then
+  CMD+=(--skip-done)
+fi
+
+if [[ "${HALF}" == "1" ]]; then
+  CMD+=(--half)
+fi
+
+if [[ -n "${EXTRA_ARGS}" ]]; then
+  # shellcheck disable=SC2206
+  EXTRA_ARR=(${EXTRA_ARGS})
+  CMD+=("${EXTRA_ARR[@]}")
+fi
+
+CMD+=("$@")
+
+"${CMD[@]}"
+
+
+# /data1/dongying/Mono3d/G1Q3/feishu_project/downloaded_issue_data/issue_6841968325\pdcl_01\20260227163613