#!/bin/bash
# 3D检测训练（使用经过验证的配置）

set -e

export PATH=/opt/conda/bin:$PATH
cd /workspace/bevfusion

echo "=========================================="
echo "BEVFusion 3D检测训练"
echo "=========================================="
echo ""
echo "配置: Camera + LiDAR Fusion"
echo "GPU: 8x Tesla V100S"
echo "预计时间: 20-24小时"
echo "预期性能: mAP ~68-70%, NDS ~71-72%"
echo ""
echo "=========================================="
echo ""

torchpack dist-run -np 8 python tools/train.py \
  configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/convfuser.yaml \
  --model.encoders.camera.backbone.init_cfg.checkpoint pretrained/swint-nuimages-pretrained.pth \
  --load_from pretrained/lidar-only-det.pth

echo ""
echo "训练完成！"