新增双目yolo实现python代码

2026-09-14 15:05:03 +08:00
parent 538ae4c6c7
commit 3a8e2c7f4b
65 changed files with 2467 additions and 10 deletions
@@ -0,0 +1,86 @@
+"""StereoYoloConfig 与 JSON 配置加载（需求说明 §4 配置项需求）。
+
+全部配置外置、构造期一次加载并校验：缺项、未知字段、类型错误、非法取值
+一律拒绝进入运行期（fail-fast）。几何参数（F/B/cx/cy/原分辨率）不在此
+重复存储——输出框位于**输入图像自身的原生坐标系**，几何参数的唯一来源
+是 utils/config/stereo_ranger.json（§4 配置一致性要求：同一配置源驱动，
+杜绝两处漂移）。
+"""
+
+import json
+from dataclasses import dataclass, fields
+from typing import Any, Dict, Optional, Tuple
+
+_CONCURRENCY_MODES = ("parallel", "sequential")
+_INT_FIELDS = frozenset({"imgsz"})
+_STR_FIELDS = frozenset({"model_path", "concurrency"})
+
+
+@dataclass
+class StereoYoloConfig:
+    model_path: str = "models/yolo26n-drone.pt"
+    imgsz: int = 640  # 左右共用（§2.2 第 2 条：同一缩放、同一填充）
+    conf_threshold: float = 0.25  # ⚠占位：识别端自身过滤口径（§2.4）
+    iou_threshold: float = 0.7  # ⚠占位：NMS IoU 门限
+    class_whitelist: Optional[Tuple[int, ...]] = None  # None = 不过滤（§4 可选白名单）
+    device: Optional[str] = None  # None = 自动选择（cpu / cuda:0 / …）
+    concurrency: str = "parallel"  # parallel = 左右并发（§5 硬性要求，串行会吃掉全部预算）
+
+    def __post_init__(self) -> None:
+        _require(bool(self.model_path.strip()), "model_path", "不得为空")
+        _require(
+            self.imgsz >= 32 and self.imgsz % 32 == 0,
+            "imgsz",
+            "须为 32 的整数倍且 ≥ 32（YOLO 步长约束）",
+        )
+        _require(0.0 <= self.conf_threshold <= 1.0, "conf_threshold", "须落在 [0, 1]")
+        _require(0.0 < self.iou_threshold <= 1.0, "iou_threshold", "须落在 (0, 1]")
+        _require(self.concurrency in _CONCURRENCY_MODES, "concurrency", f"须为 {_CONCURRENCY_MODES} 之一")
+        _require(self.device is None or bool(self.device.strip()), "device", "须为非空字符串或 null")
+        if self.class_whitelist is not None:
+            ids = tuple(self.class_whitelist)
+            _require(
+                len(ids) > 0 and all(isinstance(item, int) and not isinstance(item, bool) and item >= 0 for item in ids),
+                "class_whitelist",
+                "须为非空非负整数列表或 null",
+            )
+            self.class_whitelist = ids
+
+
+def load_from_json(path: str) -> StereoYoloConfig:
+    """从 JSON 文件构建配置；缺项/未知字段/类型错误/非法取值一律抛 ValueError。"""
+    with open(path, encoding="utf-8") as handle:
+        data: Dict[str, Any] = json.load(handle)
+    if not isinstance(data, dict):
+        raise ValueError("配置非法: 顶层须为 JSON 对象")
+    known = {item.name for item in fields(StereoYoloConfig)}
+    unknown = sorted(set(data) - known)
+    if unknown:
+        raise ValueError(f"未知配置字段: {unknown}")
+    missing = sorted(known - set(data))
+    if missing:
+        raise ValueError(f"缺少配置字段: {missing}")
+    for name, value in data.items():
+        if name == "class_whitelist":
+            if value is not None and not (
+                isinstance(value, list)
+                and all(isinstance(item, int) and not isinstance(item, bool) for item in value)
+            ):
+                raise ValueError("配置类型非法: class_whitelist 须为整数数组或 null")
+        elif name == "device":
+            if value is not None and not isinstance(value, str):
+                raise ValueError("配置类型非法: device 须为字符串或 null")
+        elif name in _STR_FIELDS:
+            if not isinstance(value, str):
+                raise ValueError(f"配置类型非法: {name} 须为字符串")
+        elif name in _INT_FIELDS:
+            if not isinstance(value, int) or isinstance(value, bool):
+                raise ValueError(f"配置类型非法: {name} 须为整数")
+        elif isinstance(value, bool) or not isinstance(value, (int, float)):
+            raise ValueError(f"配置类型非法: {name} 须为数值")
+    return StereoYoloConfig(**data)
+
+
+def _require(condition: bool, field_name: str, message: str) -> None:
+    if not condition:
+        raise ValueError(f"配置非法: {field_name} {message}")