单目3D初始代码

tools/pdcl_inference/run_two_roi_infer.py

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+import argparse
+import sys
+from pathlib import Path
+
+FILE = Path(__file__).resolve()
+ROOT = FILE.parents[2]
+if str(ROOT) not in sys.path:
+    sys.path.append(str(ROOT))
+
+from tools.pdcl_inference.run_batch_two_roi_infer import (
+    add_inference_args,
+    build_two_roi_inference_context_from_args,
+)
+from tools.pdcl_inference.two_roi_inference import (
+    DEFAULT_VISUALIZATION_ROOT,
+    run_case_inference,
+    run_video_case_inference,
+)
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Run two-ROI Detect3D inference on one exported PDCL case or image directory.")
+    parser.add_argument("--case-dir", type=str, default="", help="Case directory containing images/ and calib/L2_calib/camera4.json")
+    parser.add_argument("--video-case-dir", type=str, default="", help="Video case path or camera4.bin path with nearby camera4.json")
+    parser.add_argument("--video-stride", type=int, default=1, help="Read every Nth frame from camera4.bin inputs")
+    parser.add_argument("--images-dir", type=str, default="", help="Input image directory when --case-dir is not used")
+    parser.add_argument("--calib-file", type=str, default="", help="Input camera4.json path when --case-dir is not used")
+    parser.add_argument("--glob", type=str, default="*.png", help="Image glob inside the case images directory")
+    parser.add_argument("--max-images", type=int, default=0, help="Maximum number of images/frames to process; 0 means all")
+    parser.add_argument(
+        "--output-dir",
+        type=str,
+        default=str(DEFAULT_VISUALIZATION_ROOT),
+        help="Visualization output directory or root",
+    )
+    add_inference_args(parser)
+    return parser.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    context = build_two_roi_inference_context_from_args(args)
+    output_dir = Path(args.output_dir)
+    output_root = output_dir if output_dir != DEFAULT_VISUALIZATION_ROOT else DEFAULT_VISUALIZATION_ROOT
+    if args.video_case_dir:
+        result = run_video_case_inference(
+            context=context,
+            video_case_dir=args.video_case_dir,
+            output_dir=output_root,
+            max_images=args.max_images,
+            video_stride=args.video_stride,
+        )
+    else:
+        result = run_case_inference(
+            context=context,
+            case_dir=args.case_dir,
+            images_dir=args.images_dir,
+            calib_file=args.calib_file,
+            output_dir=output_root,
+            glob_pattern=args.glob,
+            max_images=args.max_images,
+        )
+    print(f"Saved {result['num_frames']} visualizations to {result['output_dir']}")
+    print(f"Predictions JSON: {result['predictions_path']}")
+
+
+if __name__ == "__main__":
+    main()