单目3D初始代码

2026-06-24 09:35:46 +08:00
commit 04a5895b6b
1153 changed files with 340700 additions and 0 deletions
--- a/tools/temporal_analysis/track_objects.sh
+++ b/tools/temporal_analysis/track_objects.sh
@@ -0,0 +1,134 @@
+#!/bin/bash
+# 用法说明：
+#   批量对 test_merged_model.sh 推理结果进行跟踪后处理，覆盖三路输入：
+#     ROI0:       {case_dir}/roi0/        →  {case_dir}/roi0.json
+#     ROI1:       {case_dir}/roi1/        →  {case_dir}/roi1.json
+#     Merge:      {case_dir}/merge_json/  →  {case_dir}/merge.json
+#   并将三路跟踪结果合并为：
+#                                            {case_dir}/combined_tracking.json
+#
+# 支持两种模式：
+#   1) 批量模式（默认）：处理 RESULTS_ROOT/MODEL_NAME 下所有 case
+#        bash track_objects.sh
+#   2) 单 case 模式：指定 case 目录路径作为第一个参数
+#        bash track_objects.sh /data1/dongying/Mono3d/G1M3/cases_regular/model_20260228/some_case
+
+# Set PYTHONPATH to project root for module imports
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH}"
+
+# -----------------------------------------------------------------------
+# 配置区：与 test_merged_model.sh 保持一致
+# -----------------------------------------------------------------------
+# RESULTS_ROOT="/data1/dongying/Mono3d/G1M3/cases_feishu_results"
+# MODEL_NAME="torchscript_python_300w_newdata-cncap-v6-ego"
+# /data1/dongying/Mono3d/G1Q3/tmp/20251018215336_results/predictions
+
+RESULTS_ROOT="/data1/dongying/Mono3d/G1M3/cases_regular"
+RESULTS_ROOT="/data1/dongying/Mono3d/G1M3/pdcl_batch_infer/cases_aeb_v2/CBNA/"
+MODEL_NAME="50_15_60"
+NUM_WORKERS=16
+
+# 公共跟踪参数
+TRACK_CLASSES="${TRACK_CLASSES:-0 1 2 3 4 5 6 7 8 9 10 11 12}"
+IOU_THRESH=0.3
+MAX_AGE=5
+DIST_THRESH=100
+MAX_FRAMES="${MAX_FRAMES:-200}"
+MODEL_VERSION="${MODEL_VERSION:-model_20260403}"
+
+echo ""
+echo "######################################################################"
+echo "# Batch tracking and merge: single scan + case-level parallel execution"
+echo "######################################################################"
+
+FRAME_LIMIT_ARGS=()
+if [[ -n "${MAX_FRAMES}" ]]; then
+    FRAME_LIMIT_ARGS+=(--max-frames "${MAX_FRAMES}")
+fi
+
+MODEL_VERSION_ARGS=()
+if [[ -n "${MODEL_VERSION}" ]]; then
+    MODEL_VERSION_ARGS+=(--model-version "${MODEL_VERSION}")
+fi
+
+if [[ -n "$1" ]]; then
+    # ===================================================================
+    # 单 case 模式：对指定 case 目录进行跟踪 + 合并
+    # ===================================================================
+    CASE_DIR="$1"
+    if [[ ! -d "${CASE_DIR}" ]]; then
+        echo "Error: case directory does not exist: ${CASE_DIR}"
+        exit 1
+    fi
+    echo "Single-case mode: ${CASE_DIR}"
+
+    # 逐源跟踪
+    for SOURCE in roi0 roi1 merge; do
+        INPUT_DIR="${CASE_DIR}/${SOURCE}"
+        if [[ "${SOURCE}" == "merge" ]]; then
+            OUTPUT_FILE="${CASE_DIR}/merge.json"
+        else
+            OUTPUT_FILE="${CASE_DIR}/${SOURCE}.json"
+        fi
+        if [[ -d "${INPUT_DIR}" ]]; then
+            echo ""
+            echo "--- Tracking ${SOURCE} ---"
+            python "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
+                --input-dir "${INPUT_DIR}" \
+                --output "${OUTPUT_FILE}" \
+                --file-pattern "*.json" \
+                --classes ${TRACK_CLASSES} \
+                --iou-threshold ${IOU_THRESH} \
+                --max-age ${MAX_AGE} \
+                --distance-threshold ${DIST_THRESH} \
+                "${FRAME_LIMIT_ARGS[@]}" \
+                "${MODEL_VERSION_ARGS[@]}"
+        else
+            echo "Warning: ${INPUT_DIR} not found, skipping ${SOURCE}"
+        fi
+    done
+
+    # 合并三路跟踪结果
+    echo ""
+    echo "--- Merging tracking results ---"
+    python "${PROJECT_ROOT}/tools/temporal_analysis/merge_tracking_results.py" \
+        --roi0  "${CASE_DIR}/roi0.json" \
+        --roi1  "${CASE_DIR}/roi1.json" \
+        --merge "${CASE_DIR}/merge.json" \
+        --output "${CASE_DIR}/combined_tracking.json"
+
+else
+    # ===================================================================
+    # 批量模式：扫描 RESULTS_ROOT/MODEL_NAME 下所有 case
+    # ===================================================================
+    python "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
+        --results-root "${RESULTS_ROOT}" \
+        --model-name "${MODEL_NAME}" \
+        --num-workers "${NUM_WORKERS}" \
+        --file-pattern "*.json" \
+        --classes ${TRACK_CLASSES} \
+        --iou-threshold ${IOU_THRESH} \
+        --max-age ${MAX_AGE} \
+        --distance-threshold ${DIST_THRESH} \
+        "${FRAME_LIMIT_ARGS[@]}" \
+        "${MODEL_VERSION_ARGS[@]}"
+fi
+
+# -----------------------------------------------------------------------
+# 附加3D距离增强匹配（注释状态，按需启用）
+# -----------------------------------------------------------------------
+# while IFS= read -r -d '' merge_json_dir; do
+#     case_dir=$(dirname "$merge_json_dir")
+#     output_file="${case_dir}/merge_tracking_3d.json"
+#     python "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
+#         --input-dir "$merge_json_dir" \
+#         --output "$output_file" \
+#         --classes 0 1 2 3 4 5 6 7 8 9 10 11 12 \
+#         --iou-threshold 0.3 \
+#         --max-age 5 \
+#         --distance-threshold 100 \
+#         --use-3d \
+#         --max-3d-distance 2.0
+# done < <(find "${RESULTS_ROOT}/${MODEL_NAME}" -type d -name "merge_json" -print0 | sort -z)