#!/bin/bash
# BEVFusion Checkpoint评估脚本
# 用法: bash evaluate_checkpoint.sh <checkpoint_path>

CHECKPOINT=${1:-"runs/enhanced_from_epoch19/latest.pth"}
CONFIG="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_enhanced_phase1_HIGHRES.yaml"

echo "=========================================="
echo "BEVFusion Checkpoint评估"
echo "=========================================="
echo "Checkpoint: $CHECKPOINT"
echo "Config: $CONFIG"
echo ""

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

echo "📊 评估3D目标检测性能..."
torchpack dist-run -np 8 python tools/test.py \
    $CONFIG \
    $CHECKPOINT \
    --eval bbox

echo ""
echo "📊 评估BEV地图分割性能..."
torchpack dist-run -np 8 python tools/test.py \
    $CONFIG \
    $CHECKPOINT \
    --eval map

echo ""
echo "✅ 评估完成！"