单目3D初始代码

tools/pdcl_inference/undistort_decoded_clip_data.sh

@@ -0,0 +1,74 @@
+#!/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 undistorting decoded PDCL clip data.
+#
+# Usage:
+#   bash tools/pdcl_inference/undistort_decoded_clip_data.sh
+#
+# Preferred env overrides:
+#   CASE_DIR, OUTPUT_DIR
+#
+# Optional env overrides:
+#   IMAGES_DIR, CALIB_FILE, GLOB, TARGET_SIZE_W, TARGET_SIZE_H,
+#   CROP_CENTER_X, CROP_CENTER_Y, TARGET_FX, EXTRA_ARGS
+
+CASE_DIR="${CASE_DIR:-}"
+# OUTPUT_DIR="${OUTPUT_DIR:-${CASE_DIR}_undist}"
+
+IMAGES_DIR="${IMAGES_DIR:-/data1/dongying/Mono3d/G1M3/cases_coding/249/2025-09-09_11-49-49_voice_经过旁车是大车误制动/sigmastar.1/images_1616}"
+CALIB_FILE="${CALIB_FILE:-/data1/dongying/Mono3d/G1M3/cases_coding/249/2025-09-09_11-49-49_voice_经过旁车是大车误制动/sigmastar.1/calibs/camera4.json}"
+GLOB="${GLOB:-*.jpg}"
+TARGET_SIZE_W="${TARGET_SIZE_W:-}"
+TARGET_SIZE_H="${TARGET_SIZE_H:-}"
+CROP_CENTER_X="${CROP_CENTER_X:-}"
+CROP_CENTER_Y="${CROP_CENTER_Y:-}"
+TARGET_FX="${TARGET_FX:-}"
+EXTRA_ARGS="${EXTRA_ARGS:-}"
+
+OUTPUT_DIR="${OUTPUT_DIR:-${IMAGES_DIR}_undist}"
+
+CMD=(
+  "${PYTHON_BIN}" "${PROJECT_ROOT}/tools/pdcl_inference/undistort_decoded_clip_data.py"
+  --output-dir "${OUTPUT_DIR}"
+  --glob "${GLOB}"
+  --overwrite
+)
+
+if [[ -n "${CASE_DIR}" ]]; then
+  CMD+=(--case-dir "${CASE_DIR}")
+else
+  if [[ -z "${IMAGES_DIR}" || -z "${CALIB_FILE}" ]]; then
+    echo "Error: set CASE_DIR, or set both IMAGES_DIR and CALIB_FILE."
+    exit 1
+  fi
+  CMD+=(--images-dir "${IMAGES_DIR}" --calib-file "${CALIB_FILE}")
+fi
+
+if [[ -n "${TARGET_SIZE_W}" && -n "${TARGET_SIZE_H}" ]]; then
+  CMD+=(--target-size "${TARGET_SIZE_W}" "${TARGET_SIZE_H}")
+fi
+
+if [[ -n "${CROP_CENTER_X}" ]]; then
+  CMD+=(--crop-center-x "${CROP_CENTER_X}")
+fi
+
+if [[ -n "${CROP_CENTER_Y}" ]]; then
+  CMD+=(--crop-center-y "${CROP_CENTER_Y}")
+fi
+
+if [[ -n "${TARGET_FX}" ]]; then
+  CMD+=(--target-fx "${TARGET_FX}")
+fi
+
+if [[ -n "${EXTRA_ARGS}" ]]; then
+  # shellcheck disable=SC2206
+  EXTRA_ARR=(${EXTRA_ARGS})
+  CMD+=("${EXTRA_ARR[@]}")
+fi
+
+"${CMD[@]}"