第一次

fst_data_pipeline/pipelines/volc/bag-copy.sh

@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+set -euo pipefail
+# 外部必须导出：
+# INPUT_ROOT  WORKFLOW_ID  SUB_DIR  OUTPUT_ROOT
+
+INPUT_ROOT="${INPUT_ROOT}/${WORKFLOW_ID}"
+INPUT_DIR="${INPUT_ROOT}/${SUB_DIR}"          # 实际指向 bagdir_splits 上一级
+OUTPUT_DIR="${OUTPUT_ROOT}"                   # 通常就是 /nas_perception/.../output/wfxxx
+
+log(){
+  echo "[$(date '+%F %T')] [$$] $*"
+}
+
+#----------------------------------------------------------
+# 统一封装：目录同步 / 文件拷贝
+#----------------------------------------------------------
+sync_dir(){
+  local srcDir="$1" dstDir="$2"
+  if [[ -d ${srcDir} ]]; then
+    log "  + $(basename "${srcDir}")/"
+    mkdir -p "${dstDir}"
+    rsync -a --delete "${srcDir}/" "${dstDir}/"
+  fi
+}
+
+sync_file(){
+  local srcFile="$1" dstDir="$2"
+  if [[ -f ${srcFile} ]]; then
+    log "  + $(basename "${srcFile}")"
+    mkdir -p "${dstDir}"
+    cp -p "${srcFile}" "${dstDir}/"
+  fi
+}
+
+#----------------------------------------------------------
+# 主逻辑
+#----------------------------------------------------------
+log "Script started"
+log "INPUT_DIR  = ${INPUT_DIR}"
+log "OUTPUT_DIR = ${OUTPUT_DIR}"
+
+[[ -d ${INPUT_DIR} ]] || { log "ERROR: INPUT_DIR not found: ${INPUT_DIR}"; exit 1; }
+
+while IFS= read -r -d '' src; do
+    # 去掉 split_N 层级，得到纯 bag.dir 名
+    rel="${src#${INPUT_DIR}/*/}"
+    dest="${OUTPUT_DIR}/${rel}/derived/${SUB_DIR}"
+    mkdir -p "${dest}"
+
+    basename_bag=$(basename "$src")               # xxx.bag.dir
+    pkgname="${basename_bag%.bag.dir}"            # xxx
+    split_name=$(basename "$(dirname "$src")")    # split_0 / split_1 / ...
+    truth_root="${INPUT_DIR}/${split_name}"
+
+    log "==================== Processing ${pkgname} ==================="
+
+    # 1. 老 object 重命名同步
+    sync_dir "${src}/object_det_ep20" "${dest}/object_det_al"
+    sync_dir "${src}/object_tracking" "${dest}/object_tracking_al"
+
+    # 2. 目录类：slam + lidar_gt + 新增 6 目录
+    for item in slam_lidar_ground slam_lidar_none_ground \
+                lidar_gt_pandar128_5f_front lidar_gt_pandar128_5f_rear \
+                object_det_ep20_lrgt_front object_det_ep20_lrgt_rear \
+                object_lrgt_filter object_postprocess; do
+        sync_dir "${src}/${item}" "${dest}/${item}"
+    done
+
+    # 3. 文件类
+    for item in bev_image_ground.png ego_motion_slam_lidar.csv; do
+        sync_file "${src}/${item}" "${dest}"
+    done
+
+    # 4. osm & split_json（源在 OUTPUT_ROOT/SUB_DIR/split_N/）
+    osm_src="${truth_root}/osm_out/${pkgname}.osm"
+    if [[ -f ${osm_src} ]]; then
+        log "  + ${pkgname}.osm  ->  input bag.dir"
+        cp -p "${osm_src}" "${src}/"
+        log "  + ${pkgname}.osm  ->  output"
+        cp -p "${src}/${pkgname}.osm" "${dest}/"
+    fi
+
+    split_src="${truth_root}/split_json/${pkgname}"
+    if [[ -d ${split_src} ]]; then
+        log "  + split_json/  ->  input bag.dir"
+        rsync -a --delete "${split_src}/" "${src}/split_json/"
+        log "  + split_json/  ->  output"
+        sync_dir "${src}/split_json" "${dest}/split_json"
+    fi
+
+    # 5. 2dseg and occ
+    sync_dir "${src}/${SUB_DIR}" "${dest}"
+
+done < <(find "${INPUT_DIR}" -mindepth 2 -maxdepth 2 -type d -name '*.bag.dir' -print0)
+
+log "============================================================"
+log "All done, success!"