单目3D初始代码
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zhao.zhu
215
tools/temporal_analysis/track_objects_cncap.sh
Executable file
215
tools/temporal_analysis/track_objects_cncap.sh
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#!/usr/bin/env bash
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set -euo pipefail
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shopt -s nullglob
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# 用法说明：
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# 批量对 test_merged_model.sh 推理结果进行跟踪后处理，覆盖三路输入：
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# ROI0: {case_dir}/roi0/ → {case_dir}/roi0.json
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# ROI1: {case_dir}/roi1/ → {case_dir}/roi1.json
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# Merge: {case_dir}/merge_json/ → {case_dir}/merge.json
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# 并将三路跟踪结果合并为：
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# {case_dir}/combined_tracking.json
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#
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# 支持两种模式：
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# 1) 批量模式（默认）：遍历 BATCH_ROOT 下所有 场景/模型 目录
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# bash track_objects_cncap.sh
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# 2) 批量模式（指定根目录）：第一个参数传场景根目录
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# bash track_objects_cncap.sh /data1/dongying/Mono3d/G1M3/pdcl_batch_infer/cases_aeb_v2
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# 3) 单 case 模式：第一个参数传具体 case 目录路径
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# bash track_objects_cncap.sh /path/to/one_case
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# Set PYTHONPATH to project root for module imports
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
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export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH:-}"
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PYTHON_BIN="${PYTHON_BIN:-/deeplearning_team/ydong/dongying/miniconda/envs/yolov5/bin/python}"
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# -----------------------------------------------------------------------
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# 配置区
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# -----------------------------------------------------------------------
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# 批量根目录，目录结构约定为：
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# BATCH_ROOT/<scene_name>/<model_name>/<case_name>/{roi0,roi1,merge_json}
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BATCH_ROOT="${BATCH_ROOT:-/data1/dongying/Mono3d/G1M3/pdcl_batch_infer/cases_aeb_v2}"
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# 可选过滤，留空表示不过滤：
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# SCENE_FILTER="CBNA"
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# MODEL_FILTER="50_15_60"
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SCENE_FILTER="${SCENE_FILTER:-}"
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MODEL_FILTER="${MODEL_FILTER:-}"
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NUM_WORKERS="${NUM_WORKERS:-16}"
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# 公共跟踪参数
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TRACK_CLASSES="${TRACK_CLASSES:-0 1 2 3 4 5 6 7 8 9 10 11 12}"
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IOU_THRESH=0.3
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MAX_AGE=5
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DIST_THRESH=100
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MODEL_VERSION="${MODEL_VERSION:-}"
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MERGE_OUTPUT_NAME="${MERGE_OUTPUT_NAME:-combined_tracking.json}"
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echo ""
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echo "######################################################################"
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echo "# Batch tracking and merge: auto scene/model traversal"
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echo "######################################################################"
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MODEL_VERSION_ARGS=()
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if [[ -n "${MODEL_VERSION}" ]]; then
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MODEL_VERSION_ARGS+=(--model-version "${MODEL_VERSION}")
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fi
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is_case_dir() {
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local dir_path="$1"
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[[ -d "${dir_path}/roi0" || -d "${dir_path}/roi1" || -d "${dir_path}/merge_json" ]]
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}
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run_single_case() {
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local case_dir="$1"
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echo "Single-case mode: ${case_dir}"
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for source in roi0 roi1 merge; do
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local input_dir="${case_dir}/${source}"
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local output_file
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if [[ "${source}" == "merge" ]]; then
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output_file="${case_dir}/merge.json"
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else
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output_file="${case_dir}/${source}.json"
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fi
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if [[ -d "${input_dir}" ]]; then
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echo ""
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echo "--- Tracking ${source} ---"
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"${PYTHON_BIN}" "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
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--input-dir "${input_dir}" \
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--output "${output_file}" \
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--file-pattern "*.json" \
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--classes ${TRACK_CLASSES} \
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--iou-threshold ${IOU_THRESH} \
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--max-age ${MAX_AGE} \
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--distance-threshold ${DIST_THRESH} \
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"${MODEL_VERSION_ARGS[@]}"
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else
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echo "Warning: ${input_dir} not found, skipping ${source}"
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fi
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done
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echo ""
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echo "--- Merging tracking results ---"
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"${PYTHON_BIN}" "${PROJECT_ROOT}/tools/temporal_analysis/merge_tracking_results.py" \
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--roi0 "${case_dir}/roi0.json" \
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--roi1 "${case_dir}/roi1.json" \
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--merge "${case_dir}/merge.json" \
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--output "${case_dir}/${MERGE_OUTPUT_NAME}"
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}
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run_one_model() {
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local results_root="$1"
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local model_name="$2"
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echo ""
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printf '[RUN] scene=%s model=%s\n' "$(basename "${results_root}")" "${model_name}"
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"${PYTHON_BIN}" "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
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--results-root "${results_root}" \
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--model-name "${model_name}" \
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--num-workers "${NUM_WORKERS}" \
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--merge-output-name "${MERGE_OUTPUT_NAME}" \
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--file-pattern "*.json" \
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--classes ${TRACK_CLASSES} \
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--iou-threshold ${IOU_THRESH} \
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--max-age ${MAX_AGE} \
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--distance-threshold ${DIST_THRESH} \
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"${MODEL_VERSION_ARGS[@]}"
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}
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run_batch_root() {
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local batch_root="$1"
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local total_models=0
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local success_models=0
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local failed_models=0
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local matched_scenes=0
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echo "Batch-root mode: ${batch_root}"
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[[ -n "${SCENE_FILTER}" ]] && echo "Scene filter: ${SCENE_FILTER}"
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[[ -n "${MODEL_FILTER}" ]] && echo "Model filter: ${MODEL_FILTER}"
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for scene_dir in "${batch_root}"/*; do
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[[ -d "${scene_dir}" ]] || continue
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local scene_name
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scene_name="$(basename "${scene_dir}")"
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if [[ -n "${SCENE_FILTER}" ]] && [[ ! "${scene_name}" =~ ${SCENE_FILTER} ]]; then
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continue
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fi
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((matched_scenes+=1))
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local found_model=0
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for model_dir in "${scene_dir}"/*; do
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[[ -d "${model_dir}" ]] || continue
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local model_name
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model_name="$(basename "${model_dir}")"
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if [[ -n "${MODEL_FILTER}" ]] && [[ ! "${model_name}" =~ ${MODEL_FILTER} ]]; then
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continue
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fi
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found_model=1
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((total_models+=1))
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if run_one_model "${scene_dir}" "${model_name}"; then
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((success_models+=1))
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else
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((failed_models+=1))
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printf '[FAIL] scene=%s model=%s\n' "${scene_name}" "${model_name}" >&2
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fi
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done
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if [[ "${found_model}" == "0" ]]; then
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printf '[SKIP] empty scene dir or no matched model: %s\n' "${scene_name}"
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fi
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done
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if [[ "${matched_scenes}" -eq 0 ]]; then
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echo "[ERROR] No matched scene directories found under: ${batch_root}" >&2
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return 1
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fi
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if [[ "${total_models}" -eq 0 ]]; then
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echo "[ERROR] No matched model directories found under: ${batch_root}" >&2
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return 1
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fi
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echo ""
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printf '[DONE] models=%d success=%d failed=%d\n' \
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"${total_models}" "${success_models}" "${failed_models}"
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[[ "${failed_models}" -eq 0 ]]
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}
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TARGET_PATH="${1:-${BATCH_ROOT}}"
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if [[ ! -d "${TARGET_PATH}" ]]; then
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echo "Error: target directory does not exist: ${TARGET_PATH}" >&2
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exit 1
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fi
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if is_case_dir "${TARGET_PATH}"; then
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run_single_case "${TARGET_PATH}"
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else
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run_batch_root "${TARGET_PATH}"
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fi
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# -----------------------------------------------------------------------
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# 附加3D距离增强匹配（注释状态，按需启用）
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# -----------------------------------------------------------------------
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# while IFS= read -r -d '' merge_json_dir; do
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# case_dir=$(dirname "$merge_json_dir")
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# output_file="${case_dir}/merge_tracking_3d.json"
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# "${PYTHON_BIN}" "${PROJECT_ROOT}/tools/temporal_analysis/track_objects.py" \
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# --input-dir "$merge_json_dir" \
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# --output "$output_file" \
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# --classes 0 1 2 3 4 5 6 7 8 9 10 11 12 \
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# --iou-threshold 0.3 \
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# --max-age 5 \
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# --distance-threshold 100 \
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# --use-3d \
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# --max-3d-distance 2.0
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# done < <(find "${BATCH_ROOT}" -mindepth 3 -maxdepth 3 -type d -name "merge_json" -print0 | sort -z)
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