#!/bin/bash
# BEVFusion推理脚本
# 基于epoch_19.pth在nuScenes验证集上运行推理并生成可视化

set -e

export PATH=/opt/conda/bin:$PATH

echo "=================================================="
echo "BEVFusion推理和可视化"
echo "=================================================="
echo "Checkpoint: epoch_19.pth"
echo "数据集: nuScenes Validation Set"
echo "推理样本数: 10 (可修改)"
echo "=================================================="
echo ""

# 配置参数
CONFIG="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask.yaml"
CHECKPOINT="runs/run-326653dc-74184412/epoch_19.pth"
OUTPUT_DIR="inference_results_epoch19"
SAMPLES=10
SCORE_THR=0.3

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

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

echo "✅ 文件检查通过"
echo ""

# 运行推理
/opt/conda/bin/python inference_and_visualize.py \
    --config "$CONFIG" \
    --checkpoint "$CHECKPOINT" \
    --samples $SAMPLES \
    --output-dir "$OUTPUT_DIR" \
    --show-score-thr $SCORE_THR \
    --device cuda:0

echo ""
echo "=================================================="
echo "✅ 推理完成！"
echo "结果保存在: $OUTPUT_DIR"
echo "=================================================="
echo ""
echo "查看结果："
echo "  ls -lh $OUTPUT_DIR"
echo ""