单目3D初始代码

tools/temporal_analysis/visualize_tracking_batch.sh

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+#!/bin/bash
+# 批量将跟踪结果可视化到视频帧上。
+#
+# 流程（每个 case）：
+#   直接读取 camera4.bin，将 merge_tracking.json 叠加到每帧，保存可视化图片目录或 mp4。
+#   无需保存中间帧，节省磁盘空间。
+#
+# 目录约定（与 test_merged_model.sh 保持一致）：
+#   CASES_ROOT/.../{case_id}/{sub}/sigmastar.1/camera4.bin   ← 原始视频
+#   RESULTS_ROOT/MODEL_NAME/{run_name}/merge_tracking.json   ← 跟踪结果
+#   RESULTS_ROOT/MODEL_NAME/{run_name}/tracking_vis.mp4      ← 可视化输出（SAVE_VIDEO=true）
+#   RESULTS_ROOT/MODEL_NAME/{run_name}/tracking_vis/         ← 可视化图片（SAVE_VIDEO=false）
+
+# 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}:${PYTHONPATH}"
+
+# -----------------------------------------------------------------------
+# 配置区：与 test_merged_model.sh / track_objects.sh 保持一致
+# -----------------------------------------------------------------------
+CASES_ROOT="/data1/dongying/Mono3d/G1M3/cases_coding"
+RESULTS_ROOT="/data1/dongying/Mono3d/G1M3/cases_coding_results"
+MODEL_NAME="torchscript_python_300w_newdata-cncap-v2"
+
+# 可视化选项
+SAVE_VIDEO=false           # true=保存 mp4；false=保存图片目录
+VIS_FPS=25                # 输出视频帧率
+VIS_CLASS_ID=""           # 过滤类别，例如 "--class-id 0"；留空则显示全部类别
+
+# -----------------------------------------------------------------------
+# 批量循环：与 test_merged_model.sh 相同的路径推导逻辑
+# -----------------------------------------------------------------------
+while IFS= read -r -d '' camera4_bin; do
+    sigmastar_dir=$(dirname "$camera4_bin")
+
+    rel_path="${sigmastar_dir#"$CASES_ROOT"/}"
+    rel_path="${rel_path%/sigmastar.1}"
+    run_name=$(echo "$rel_path" | tr '/ ' '__')
+
+    case_dir="${RESULTS_ROOT}/${MODEL_NAME}/${run_name}"
+    tracking_file="${case_dir}/merge_tracking.json"
+
+    # 跟踪结果不存在则跳过（该 case 尚未跑 track_objects.sh）
+    if [[ ! -f "$tracking_file" ]]; then
+        echo "[SKIP] No merge_tracking.json: $case_dir"
+        continue
+    fi
+
+    echo ""
+    echo "=========================================="
+    echo "Case   : $run_name"
+    echo "Video  : $camera4_bin"
+    echo "Track  : $tracking_file"
+    echo "=========================================="
+
+    # ------------------------------------------------------------------
+    # 直接读取视频并可视化（不保存中间帧）
+    # ------------------------------------------------------------------
+    if [[ "$SAVE_VIDEO" == true ]]; then
+        output_arg="${case_dir}/tracking_vis.mp4"
+        save_video_flag="--save-video"
+        echo "[INFO] Visualizing → $output_arg"
+    else
+        output_arg="${case_dir}/tracking_vis"
+        save_video_flag=""
+        echo "[INFO] Visualizing → $output_arg/"
+    fi
+
+    python "${PROJECT_ROOT}/tools/temporal_analysis/visualize_tracking_boxes.py" \
+        --tracking "$tracking_file" \
+        --images "$camera4_bin" \
+        --output "$output_arg" \
+        --fps "$VIS_FPS" \
+        $save_video_flag \
+        $VIS_CLASS_ID
+
+    if [[ $? -ne 0 ]]; then
+        echo "[ERROR] Visualization failed for case: $run_name"
+        continue
+    fi
+
+    echo "[DONE] $run_name"
+
+done < <(find "$CASES_ROOT" -name "camera4.bin" -print0 | sort -z)
+
+echo ""
+echo "All cases processed."