#!/bin/bash
# 提取nuScenes矢量地图数据

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

echo "=========================================="
echo "提取nuScenes矢量地图数据"
echo "=========================================="

# 检查nuscenes-devkit
python -c "import nuscenes" 2>/dev/null
if [ $? -ne 0 ]; then
    echo "❌ nuscenes-devkit未安装"
    echo "安装: pip install nuscenes-devkit"
    exit 1
fi

# 提取训练集
echo -e "\n📦 提取训练集矢量地图..."
python tools/data_converter/extract_vector_map_bevfusion.py \
    --dataroot data/nuscenes \
    --version v1.0-trainval \
    --output data/nuscenes/vector_maps_train.pkl \
    --x-range -50 50 \
    --y-range -50 50 \
    --num-points 20

# 提取验证集
echo -e "\n📦 提取验证集矢量地图..."
python tools/data_converter/extract_vector_map_bevfusion.py \
    --dataroot data/nuscenes \
    --version v1.0-trainval \
    --output data/nuscenes/vector_maps_val.pkl \
    --x-range -50 50 \
    --y-range -50 50 \
    --num-points 20

echo -e "\n✅ 矢量地图数据提取完成！"
echo "训练集: data/nuscenes/vector_maps_train.pkl"
echo "验证集: data/nuscenes/vector_maps_val.pkl"