#!/bin/bash
# Epoch 23完整评估脚本 - 检测+分割
# 使用GPU 4-7，不影响Stage 1训练（GPU 0-3）

set -e

export PATH=/opt/conda/bin:$PATH
export LD_LIBRARY_PATH=/opt/conda/lib/python3.8/site-packages/torch/lib:/opt/conda/lib:/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export PYTHONPATH=/workspace/bevfusion:$PYTHONPATH

cd /workspace/bevfusion

echo "========================================================================"
echo "Epoch 23 完整评估 (GPU 4-7, 不影响训练)"
echo "========================================================================"
echo ""
echo "启动时间: $(date)"
echo ""

TIMESTAMP=$(date +%Y%m%d_%H%M%S)
EVAL_DIR="eval_results/epoch23_complete_${TIMESTAMP}"
mkdir -p "$EVAL_DIR"

CONFIG="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_enhanced_phase1_HIGHRES.yaml"
CHECKPOINT="runs/enhanced_from_epoch19/epoch_23.pth"

echo "配置文件: $CONFIG"
echo "Checkpoint: $CHECKPOINT (516MB)"
echo "输出目录: $EVAL_DIR"
echo "使用GPU: 4-7 (避开训练GPU 0-3)"
echo ""

# 检查文件是否存在
if [ ! -f "$CHECKPOINT" ]; then
    echo "错误: Checkpoint文件不存在: $CHECKPOINT"
    exit 1
fi

if [ ! -f "$CONFIG" ]; then
    echo "错误: 配置文件不存在: $CONFIG"
    exit 1
fi

# 阶段1: 3D检测评估
echo "========== 阶段1: 3D目标检测评估 =========="
echo "预计时间: 45-60分钟"
echo ""

CUDA_VISIBLE_DEVICES=4,5,6,7 \
LD_LIBRARY_PATH=/opt/conda/lib/python3.8/site-packages/torch/lib:/opt/conda/lib:/usr/local/cuda/lib64:$LD_LIBRARY_PATH \
PATH=/opt/conda/bin:$PATH \
/opt/conda/bin/torchpack dist-run -np 4 /opt/conda/bin/python tools/test.py \
  "$CONFIG" \
  "$CHECKPOINT" \
  --eval bbox \
  --out "$EVAL_DIR/detection_results.pkl" \
  --cfg-options data.workers_per_gpu=0 \
  2>&1 | tee "$EVAL_DIR/detection_eval.log"

echo ""
echo "检测评估完成！"
echo ""

# 阶段2: BEV分割评估
echo "========== 阶段2: BEV分割评估 =========="
echo "预计时间: 30-45分钟"
echo ""

CUDA_VISIBLE_DEVICES=4,5,6,7 \
LD_LIBRARY_PATH=/opt/conda/lib/python3.8/site-packages/torch/lib:/opt/conda/lib:/usr/local/cuda/lib64:$LD_LIBRARY_PATH \
PATH=/opt/conda/bin:$PATH \
/opt/conda/bin/torchpack dist-run -np 4 /opt/conda/bin/python tools/test.py \
  "$CONFIG" \
  "$CHECKPOINT" \
  --eval map \
  --out "$EVAL_DIR/segmentation_results.pkl" \
  --cfg-options data.workers_per_gpu=0 \
  2>&1 | tee "$EVAL_DIR/segmentation_eval.log"

echo ""
echo "分割评估完成！"
echo ""

# 阶段3: 综合评估
echo "========== 阶段3: 综合评估（检测+分割） =========="
echo "预计时间: 60-90分钟"
echo ""

CUDA_VISIBLE_DEVICES=4,5,6,7 \
LD_LIBRARY_PATH=/opt/conda/lib/python3.8/site-packages/torch/lib:/opt/conda/lib:/usr/local/cuda/lib64:$LD_LIBRARY_PATH \
PATH=/opt/conda/bin:$PATH \
/opt/conda/bin/torchpack dist-run -np 4 /opt/conda/bin/python tools/test.py \
  "$CONFIG" \
  "$CHECKPOINT" \
  --eval bbox map \
  --out "$EVAL_DIR/complete_results.pkl" \
  --cfg-options data.workers_per_gpu=0 \
  2>&1 | tee "$EVAL_DIR/complete_eval.log"

echo ""
echo "综合评估完成！"
echo ""

# 生成报告摘要
echo "========================================================================"
echo "生成评估报告摘要..."
echo "========================================================================"

cat > "$EVAL_DIR/SUMMARY.txt" << 'SUMMARY_EOF'
======================================================================
Epoch 23 评估报告摘要
======================================================================
生成时间: $(date)
Checkpoint: epoch_23.pth
配置: multitask_enhanced_phase1_HIGHRES.yaml

--- 3D检测结果 ---
SUMMARY_EOF

# 提取检测指标
grep -E "(NDS|mAP):" "$EVAL_DIR/detection_eval.log" | tail -20 >> "$EVAL_DIR/SUMMARY.txt" 2>/dev/null || echo "  (待提取)" >> "$EVAL_DIR/SUMMARY.txt"

cat >> "$EVAL_DIR/SUMMARY.txt" << 'SUMMARY_EOF'

--- BEV分割结果 ---
SUMMARY_EOF

# 提取分割指标
grep -E "(mIoU|IoU):" "$EVAL_DIR/segmentation_eval.log" | tail -20 >> "$EVAL_DIR/SUMMARY.txt" 2>/dev/null || echo "  (待提取)" >> "$EVAL_DIR/SUMMARY.txt"

cat >> "$EVAL_DIR/SUMMARY.txt" << 'SUMMARY_EOF'

--- 综合评估结果 ---
SUMMARY_EOF

# 提取综合指标
grep -E "(NDS|mAP|mIoU):" "$EVAL_DIR/complete_eval.log" | tail -30 >> "$EVAL_DIR/SUMMARY.txt" 2>/dev/null || echo "  (待提取)" >> "$EVAL_DIR/SUMMARY.txt"

cat >> "$EVAL_DIR/SUMMARY.txt" << 'SUMMARY_EOF'

======================================================================
完整日志位置:
  - 检测: detection_eval.log
  - 分割: segmentation_eval.log
  - 综合: complete_eval.log

结果文件:
  - detection_results.pkl
  - segmentation_results.pkl
  - complete_results.pkl
======================================================================
SUMMARY_EOF

# 显示摘要
echo ""
cat "$EVAL_DIR/SUMMARY.txt"
echo ""

echo "========================================================================"
echo "全部评估完成！"
echo "========================================================================"
echo "完成时间: $(date)"
echo "输出目录: $EVAL_DIR"
echo ""
echo "查看详细结果:"
echo "  cat $EVAL_DIR/SUMMARY.txt"
echo "  cat $EVAL_DIR/detection_eval.log | grep -A 20 'Evaluation'"
echo "  cat $EVAL_DIR/segmentation_eval.log | grep -A 20 'Evaluation'"
echo ""
echo "下一步:"
echo "  1. 查看详细性能指标"
echo "  2. 对比Stage 1训练进度"
echo "  3. 识别改进空间"
echo "========================================================================"