#!/bin/bash
# 并行评估Phase 3 epoch_23.pth性能
# 使用GPU 4-7，不影响当前训练（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 "Phase 3 Epoch 23 模型评估"
echo "========================================================================"
echo "Checkpoint: runs/enhanced_from_epoch19/epoch_23.pth"
echo "配置: Phase 3 Enhanced BEV Segmentation (400×400)"
echo "GPU: 4-7 (不影响当前训练)"
echo "========================================================================"
echo ""

# 创建评估输出目录
EVAL_DIR="eval_results/phase3_epoch23_$(date +%Y%m%d_%H%M%S)"
mkdir -p "$EVAL_DIR"

echo "评估结果将保存到: $EVAL_DIR"
echo ""

# 使用Phase 3的配置文件进行评估
CONFIG="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_enhanced_phase1_HIGHRES.yaml"
CHECKPOINT="runs/enhanced_from_epoch19/epoch_23.pth"

echo "开始评估..."
echo "配置文件: $CONFIG"
echo "Checkpoint: $CHECKPOINT"
echo ""

# 使用GPU 4-7运行评估（4张GPU分布式）
# 设置CUDA_VISIBLE_DEVICES限制在GPU 4-7
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 "$EVAL_DIR/results.pkl" \
  2>&1 | tee "$EVAL_DIR/eval.log"

echo ""
echo "========================================================================"
echo "评估完成！"
echo "========================================================================"
echo "结果文件: $EVAL_DIR/results.pkl"
echo "日志文件: $EVAL_DIR/eval.log"
echo ""

# 提取关键指标
echo "关键性能指标:"
echo "========================================================================"
grep -E "(NDS|mAP|Car|Pedestrian|mIoU)" "$EVAL_DIR/eval.log" | tail -20

echo ""
echo "完整结果请查看: $EVAL_DIR/eval.log"
echo "========================================================================"