97 lines
3.2 KiB
Bash
97 lines
3.2 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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# 外部必须导出：
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# INPUT_ROOT WORKFLOW_ID SUB_DIR OUTPUT_ROOT
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INPUT_ROOT="${INPUT_ROOT}/${WORKFLOW_ID}"
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INPUT_DIR="${INPUT_ROOT}/${SUB_DIR}" # 实际指向 bagdir_splits 上一级
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OUTPUT_DIR="${OUTPUT_ROOT}" # 通常就是 /nas_perception/.../output/wfxxx
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log(){
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echo "[$(date '+%F %T')] [$$] $*"
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}
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#----------------------------------------------------------
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# 统一封装：目录同步 / 文件拷贝
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#----------------------------------------------------------
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sync_dir(){
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local srcDir="$1" dstDir="$2"
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if [[ -d ${srcDir} ]]; then
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log " + $(basename "${srcDir}")/"
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mkdir -p "${dstDir}"
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rsync -a --delete "${srcDir}/" "${dstDir}/"
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fi
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}
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sync_file(){
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local srcFile="$1" dstDir="$2"
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if [[ -f ${srcFile} ]]; then
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log " + $(basename "${srcFile}")"
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mkdir -p "${dstDir}"
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cp -p "${srcFile}" "${dstDir}/"
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fi
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}
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#----------------------------------------------------------
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# 主逻辑
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#----------------------------------------------------------
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log "Script started"
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log "INPUT_DIR = ${INPUT_DIR}"
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log "OUTPUT_DIR = ${OUTPUT_DIR}"
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[[ -d ${INPUT_DIR} ]] || { log "ERROR: INPUT_DIR not found: ${INPUT_DIR}"; exit 1; }
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while IFS= read -r -d '' src; do
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# 去掉 split_N 层级，得到纯 bag.dir 名
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rel="${src#${INPUT_DIR}/*/}"
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dest="${OUTPUT_DIR}/${rel}/derived/${SUB_DIR}"
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mkdir -p "${dest}"
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basename_bag=$(basename "$src") # xxx.bag.dir
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pkgname="${basename_bag%.bag.dir}" # xxx
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split_name=$(basename "$(dirname "$src")") # split_0 / split_1 / ...
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truth_root="${INPUT_DIR}/${split_name}"
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log "==================== Processing ${pkgname} ==================="
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# 1. 老 object 重命名同步
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sync_dir "${src}/object_det_ep20" "${dest}/object_det_al"
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sync_dir "${src}/object_tracking" "${dest}/object_tracking_al"
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# 2. 目录类：slam + lidar_gt + 新增 6 目录
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for item in slam_lidar_ground slam_lidar_none_ground \
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lidar_gt_pandar128_5f_front lidar_gt_pandar128_5f_rear \
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object_det_ep20_lrgt_front object_det_ep20_lrgt_rear \
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object_lrgt_filter object_postprocess; do
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sync_dir "${src}/${item}" "${dest}/${item}"
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done
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# 3. 文件类
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for item in bev_image_ground.png ego_motion_slam_lidar.csv; do
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sync_file "${src}/${item}" "${dest}"
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done
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# 4. osm & split_json（源在 OUTPUT_ROOT/SUB_DIR/split_N/）
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osm_src="${truth_root}/osm_out/${pkgname}.osm"
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if [[ -f ${osm_src} ]]; then
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log " + ${pkgname}.osm -> input bag.dir"
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cp -p "${osm_src}" "${src}/"
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log " + ${pkgname}.osm -> output"
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cp -p "${src}/${pkgname}.osm" "${dest}/"
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fi
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split_src="${truth_root}/split_json/${pkgname}"
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if [[ -d ${split_src} ]]; then
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log " + split_json/ -> input bag.dir"
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rsync -a --delete "${split_src}/" "${src}/split_json/"
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log " + split_json/ -> output"
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sync_dir "${src}/split_json" "${dest}/split_json"
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fi
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# 5. 2dseg and occ
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sync_dir "${src}/${SUB_DIR}" "${dest}"
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done < <(find "${INPUT_DIR}" -mindepth 2 -maxdepth 2 -type d -name '*.bag.dir' -print0)
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log "============================================================"
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log "All done, success!"
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