From 2d450715ffed2419eeaad19ce3db490d38bfe1d1 Mon Sep 17 00:00:00 2001
From: Chengfang Lu <Chengfang.LU@hx-electronics.com>
Date: Tue, 16 Jun 2026 17:36:37 +0800
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新增 seed_lake_example.sh 并在 init_after_clone 中调用；更新 README/CLAUDE/DEPLOY
使接手人 clone 后即可走通送标样例流程。

Co-authored-by: Cursor <cursoragent@cursor.com>
---
 CLAUDE.md                          | 81 +++++++++++++++++++--------
 README.md                          | 90 ++++++++++++++++++++++++++++--
 docs/DEPLOY.md                     | 21 +++++++
 lake/lake_example/README.md        |  2 +
 lake/lake_example/copy_to_inbox.sh | 25 +--------
 scripts/init_after_clone.sh        | 14 ++++-
 scripts/seed_lake_example.sh       | 53 ++++++++++++++++++
 7 files changed, 236 insertions(+), 50 deletions(-)
 create mode 100755 scripts/seed_lake_example.sh

diff --git a/CLAUDE.md b/CLAUDE.md
index 743cd0b..8383b21 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -2,6 +2,33 @@
 
 This file provides guidance to Claude Code when working with code in this repository.
 
+## Quick Deploy (Handover to Another Machine)
+
+```bash
+git clone https://git.sanyele.com/ChengFang.LU/HSAP.git
+cd HSAP
+bash scripts/init_after_clone.sh   # .env, feishu.env, build web, seed lake_example
+bash scripts/dev_up.sh             # or: make up
+```
+
+| Script | Purpose |
+|--------|---------|
+| `init_after_clone.sh` | First-time setup; calls `seed_lake_example.sh` |
+| `seed_lake_example.sh` | Copy `lake/lake_example/` → data lake inbox (idempotent) |
+| `dev_up.sh` | `docker compose up -d --build` (platform + CVAT + DB) |
+| `build_web.sh` | `platform/web` → `platform/ui-hsap/dist` |
+| `reset_labeling.sh` | Clear labeling DB; re-scan inbox |
+
+**Handover UI flow:** http://127.0.0.1:8787 → dev login (`AS_DEV_AUTH=true`) → 批次台账 → 扫描数据湖 → 登记 → 送标工作台 → 开标 → 我的标注.
+
+**Sample batches:** `lake/lake_example/datasets/manifest.yaml` (e.g. `adas/det_7cls/20260616_adas2d_pilot`).
+
+**Git push:** `https://git.sanyele.com/ChengFang.LU/HSAP.git` — use Gitea **Access Token** as HTTPS password if SSH fails.
+
+**Deploy docs:** `README.md`, `docs/DEPLOY.md`.
+
+---
+
 ## Project Overview
 
 **HSAP** (Huaxu Sentinel Active Safety Platform / 华胥 Sentinel 主动安全平台) is a truck active safety algorithm iteration platform covering DMS (Driver Monitoring), Lane detection, and ADAS perception tasks.
@@ -17,14 +44,14 @@ HSAP/
 ├── platform/          # Orchestration layer (API, auth, audit, jobs, web UI)
 ├── algorithms/        # Algorithm code layer (YOLO, UFLD adapters + registries)
 ├── datasets/          # Data layer (packs, inbox, sources, labeling configs)
-├── scripts/           # Operational scripts (init, smoke tests, sync, worker)
-├── docs/              # Documentation (20+ md files covering all aspects)
-├── lake/              # Data lake staging area
-├── reports/           # Reports, CSVs, figures
-├── manifests/         # Runtime configs (feishu.env, DB, job logs, catalog cache)
+├── lake/lake_example/ # Sample inbox batches (seeded by init_after_clone)
+├── vendor/cvat/patches/  # CVAT no_auth + iframe patches
+├── scripts/           # init_after_clone, dev_up, seed_lake_example, build_web
+├── manifests/         # Runtime configs (feishu.env — not in git)
+├── docs/              # DEPLOY.md, HANDOVER.md, ...
 ├── as.py              # CLI entry point for workflow commands
 ├── workflow.registry.yaml  # Central registry: projects, packs, automation rules
-├── docker-compose.yml      # PostgreSQL + Redis + platform + worker + optional minio
+├── docker-compose.yml      # platform + worker + CVAT + postgres + redis (single file)
 ├── Dockerfile              # Python 3.11-slim, FastAPI on port 8787
 └── Makefile                # up/down/dev/logs/build/ps/health shortcuts
 ```
@@ -99,36 +126,41 @@ Central configuration for:
 - **Platform settings**: batch metadata schema, drop zones for inbox/sources, training tracks, agent graphs
 - **Automation rules**: eval-before-promote requirement, minimum delta thresholds, baseline metrics
 
-## Docker Services
+## Docker Services (single `docker-compose.yml`)
 
 | Service | Port | Description |
 |---------|------|-------------|
 | platform | 8787 | FastAPI + static web UI |
-| postgres | 5432 (host mapped to 5433) | PostgreSQL 16 |
-| redis | 6379 (host mapped to 6380) | Redis 7 |
-| worker | - | Async job executor (same image, different command) |
-| minio | 9000/9001 | Optional S3-compatible staging (profile: minio) |
+| worker | — | Async job executor |
+| postgres | 5433 (host) | PostgreSQL 16 |
+| redis | 6380 (host) | Redis 7 |
+| cvat_traefik | 8080 | CVAT gateway (UI + API) |
+| cvat_server, cvat_ui, cvat_db, workers | internal | CVAT labeling engine |
+| minio | 9000/9001 | Optional (profile: minio) |
 
 ## Build & Run Commands
 
 ```bash
-# Quick start (Docker)
-bash scripts/init_after_clone.sh   # Generate .env / feishu.env
+# Deploy (recommended)
+bash scripts/init_after_clone.sh
 bash scripts/dev_up.sh             # Or: make up
 
+# Re-copy sample inbox batches
+bash scripts/seed_lake_example.sh
+
 # Local dev (no Docker for platform)
 pip install -r requirements.txt
 bash scripts/run_local.sh
 
-# Infrastructure only (Docker) + local platform
-docker compose up -d postgres redis
+# Infrastructure only + local platform
+docker compose up -d postgres redis cvat_traefik cvat_server
 bash scripts/run_local.sh
 
+# Frontend rebuild
+bash scripts/build_web.sh && docker compose restart platform
+
 # Utilities
-make logs      # platform + worker logs
-make down      # stop all
-make dev       # with Vite hot reload on :5173
-make health    # check API health
+make logs / make down / make health
 ```
 
 ## Key Environment Variables
@@ -141,7 +173,10 @@ make health    # check API health
 | `AS_JOB_EXECUTOR` | `thread` | `thread` or `worker` |
 | `AS_DEV_AUTH` | `false` | Bypass Feishu auth in dev |
 | `AS_JWT_SECRET` | - | JWT signing secret |
-| `AS_WORKSPACE_ROOT` | - | External workspace path for large files |
+| `AS_WORKSPACE_ROOT` | optional | External workspace (DMS/Lane large files) |
+| `AS_DATA_LAKE_HOST` | `../data` | Data lake root; `送标/adas/inbox` |
+| `AS_FRONTEND_URL` | `http://127.0.0.1:8787` | Browser URL (change for LAN deploy) |
+| `CVAT_PUBLIC_URL` | `http://127.0.0.1:8080` | CVAT iframe URL |
 | `AS_FLEET_MAP_ENABLED` | `1` | Enable fleet map APIs |
 | `AS_FLEET_MOCK_SEED` | `1` | Seed demo vehicles on first start |
 
@@ -150,12 +185,14 @@ make health    # check API health
 1. **Never commit**: `.env`, `feishu.env`, `node_modules`, `*.pt` (model weights), images/videos
 2. **Python path**: Platform code runs with `PYTHONPATH=platform` from repo root
 3. **Package name**: The Python package is `as_platform` (historical name preserved)
-4. **Web UI**: React/Vite frontend sources are external (in workspace), built via `scripts/build_hsap_ls_ui.sh`
-5. **Large files**: Images, videos, model weights live in external workspace, mounted at `/data/workspace` in Docker
+4. **Web UI**: `platform/web/` built via `scripts/build_web.sh` → `platform/ui-hsap/dist/`
+5. **Large files**: Training weights / bulk images in `AS_WORKSPACE_ROOT` or data lake; sample batches in `lake/lake_example/`
+6. **Git**: Remote `git.sanyele.com`; HTTPS + Access Token if SSH unavailable. Company Gerrit (`10.0.0.2:29418`) is unrelated to HSAP.
 
 ## Documentation Index
 
 Key docs in `docs/`:
+- `DEPLOY.md` — **New machine deploy + lake_example handover**
 - `DEVELOPMENT_GUIDE.md` — Architecture, conventions, design decisions
 - `DEVELOPMENT_ROADMAP.md` — Q2 2026 roadmap with phased milestones
 - `DATA_LAKE_CHECKLIST.md` — Data lake operations checklist
diff --git a/README.md b/README.md
index bd1813d..2c6751c 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,51 @@
 
 克隆本仓库即可运行；**算法源码与数据集脚手架已内嵌**。大文件（图像、训练权重）通过外部 `workspace` 或 **送标数据湖** 挂载，不进入 Git。
 
-**新机器部署请直接看 → [docs/DEPLOY.md](docs/DEPLOY.md)**
+**新机器 3 步部署 → 见下方 [快速部署到其他机器](#快速部署到其他机器)** · 详细文档 [docs/DEPLOY.md](docs/DEPLOY.md)
+
+---
+
+## 快速部署到其他机器
+
+在目标 Linux 机器上执行（需 Docker + Node 18+）：
+
+```bash
+# 1. 克隆（HTTPS 需 Gitea 用户名 + Access Token 作密码；或配置 SSH 公钥）
+git clone https://git.sanyele.com/ChengFang.LU/HSAP.git
+cd HSAP
+
+# 2. 初始化：.env、feishu.env、前端构建、lake_example 样例植入
+bash scripts/init_after_clone.sh
+
+# 3. 启动平台 + CVAT
+bash scripts/dev_up.sh
+```
+
+浏览器打开 http://127.0.0.1:8787 → 开发登录 → **批次台账 → 扫描数据湖 → 登记 → 送标工作台开标**（样例已自动就位）。
+
+| 检查项 | 命令 / 地址 |
+|--------|-------------|
+| 平台健康 | `make health` |
+| 容器状态 | `docker compose ps` |
+| 样例批次 | `lake/lake_example/datasets/manifest.yaml` |
+| 局域网访问 | 改 `.env` 中 `AS_FRONTEND_URL`、`CVAT_PUBLIC_URL` 为 `http://<IP>:8787` / `:8080` |
+
+**目录布局（推荐与仓库平级）：**
+
+```text
+/opt/DATA/
+├── HSAP/          ← git clone
+└── data/          ← AS_DATA_LAKE_HOST，init 自动创建 送标/adas/inbox
+```
+
+`AS_WORKSPACE_ROOT`（DMS 训练大图）**验收送标流程不必配置**；有外部 workspace 时再在 `.env` 填写。
+
+**推送代码到远端：**
+
+```bash
+git push origin main
+# 用户名 Chengfang.LU，密码填 Gitea Access Token（设置 → 应用 → 生成令牌）
+```
 
 ---
 
@@ -55,12 +99,11 @@ HSAP/
 git clone https://git.sanyele.com/ChengFang.LU/HSAP.git
 cd HSAP
 
-bash scripts/init_after_clone.sh   # 生成 .env / feishu.env，构建前端
-# 编辑 .env：AS_WORKSPACE_ROOT、AS_DATA_LAKE_HOST、AS_FRONTEND_URL
+bash scripts/init_after_clone.sh   # .env / feishu.env、构建前端、植入 lake_example 样例
 bash scripts/dev_up.sh             # 或: make up
 ```
 
-`make up` / `dev_up.sh` 一次启动 **HSAP 平台 + 内置 CVAT**（无需单独部署 CVAT，无需 CVAT 账号登录）。
+按上面两步即可 **启动平台**；`init_after_clone.sh` 会自动把 [`lake/lake_example`](lake/lake_example/) 里的示例送标批次复制到数据湖 inbox，接手人无需再手动拷文件。
 
 | 服务 | 地址 | 说明 |
 |------|------|------|
@@ -79,7 +122,42 @@ make health    # API 健康检查
 
 **改前端后：** 须 `bash scripts/build_web.sh` 并 `docker compose restart platform`。
 
-**部署到他人电脑 / 局域网：** 修改 `.env` 中 `AS_FRONTEND_URL`、`CVAT_PUBLIC_URL`、`FEISHU_REDIRECT_URI` 为实际访问地址，详见 [docs/DEPLOY.md](docs/DEPLOY.md)。
+**局域网部署：** 修改 `.env` 中 `AS_FRONTEND_URL`、`CVAT_PUBLIC_URL`，详见 [docs/DEPLOY.md](docs/DEPLOY.md)。
+
+---
+
+## 接手走通送标流程（lake_example）
+
+仓库内 [`lake/lake_example/`](lake/lake_example/) 含 **DMS / ADAS 2D / ADAS 3D / Lane** 各一条样例批次（含少量图片），用于验收全流程。
+
+### 一键植入（部署时自动执行）
+
+```bash
+bash scripts/init_after_clone.sh    # 已包含 seed
+# 或单独执行：
+bash scripts/seed_lake_example.sh
+```
+
+样例落盘位置：
+
+| 业务 | 路径 | 样例批次 |
+|------|------|----------|
+| ADAS 2D | `data/送标/adas/inbox/det_7cls/` | `20260616_adas2d_pilot` |
+| ADAS 3D | `data/送标/adas/inbox/cuboid_7cls/` | `20260616_3d_pilot` |
+| DMS | `datasets/dms/inbox/addw/` 等 | `20260616_addw_pilot` 等 |
+| Lane | `datasets/lane/inbox/` | `20260616_lane_pilot` |
+
+默认 `AS_DATA_LAKE_HOST=../data`（与 HSAP 仓库平级）。完整清单见 [`lake/lake_example/datasets/manifest.yaml`](lake/lake_example/datasets/manifest.yaml)。
+
+### UI 操作顺序
+
+1. 打开 http://127.0.0.1:8787 → 开发登录
+2. **批次台账** → **扫描数据湖** → 勾选样例批次 → **登记到台账**
+3. **送标工作台** → 选批次（建议先试 `adas / det_7cls / 20260616_adas2d_pilot`）→ **开标**
+4. **标注进度** → **分配任务** → 标注员进入 **我的标注** → CVAT 画框保存
+5. 协调员 **提交批次** → 审核员 **审核队列** 通过 → 导出入库
+
+清空标注记录重来：`bash scripts/reset_labeling.sh`（不删 inbox 文件，可再次扫描登记）。
 
 ---
 
@@ -127,6 +205,8 @@ ADAS 7 类：`car`, `pedestrian`, `truck`, `bus`, `motorcycle`, `tricycle`, `tra
 
 批次目录示例见 `lake/lake_example/`。登记：**批次台账 → 扫描数据湖 → 登记**。
 
+部署时执行 `bash scripts/seed_lake_example.sh`（已包含在 `init_after_clone.sh`）可自动植入样例批次。
+
 清空送标/标注 DB（保留账号）：`bash scripts/reset_labeling.sh`
 
 ---
diff --git a/docs/DEPLOY.md b/docs/DEPLOY.md
index 2231429..21a5d4e 100644
--- a/docs/DEPLOY.md
+++ b/docs/DEPLOY.md
@@ -38,6 +38,27 @@ bash scripts/init_after_clone.sh
 - 从 `manifests/feishu.env.example` 生成 `manifests/feishu.env`
 - 若上级目录存在 `workspace/`、`data/`，自动写入挂载路径
 - 首次构建前端 → `platform/ui-hsap/dist/`
+- **植入 `lake/lake_example` 样例送标批次** → 数据湖 inbox（接手人可直接走流程）
+
+---
+
+## 3.5 样例送标数据（lake_example）
+
+`init_after_clone.sh` 已自动执行 `scripts/seed_lake_example.sh`。也可单独重跑：
+
+```bash
+bash scripts/seed_lake_example.sh
+```
+
+推荐验收批次：
+
+| 类型 | 批次名 |
+|------|--------|
+| ADAS 2D | `20260616_adas2d_pilot` |
+| ADAS 3D | `20260616_3d_pilot` |
+| DMS | `20260616_addw_pilot` |
+
+平台启动后：**批次台账 → 扫描数据湖 → 登记 → 送标工作台开标**。详见 [README 接手流程](../README.md#接手走通送标流程lake_example)。
 
 ---
 
diff --git a/lake/lake_example/README.md b/lake/lake_example/README.md
index 72e3458..1d07674 100644
--- a/lake/lake_example/README.md
+++ b/lake/lake_example/README.md
@@ -15,6 +15,8 @@ DMS 舱内（addw/ddaw/dam 等）仍在 `datasets/dms/inbox/`。
 ## 复制到数据湖
 
 ```bash
+bash ../../scripts/seed_lake_example.sh
+# 或在本目录：
 bash copy_to_inbox.sh
 ```
 
diff --git a/lake/lake_example/copy_to_inbox.sh b/lake/lake_example/copy_to_inbox.sh
index 2c2d446..2a0b2a3 100755
--- a/lake/lake_example/copy_to_inbox.sh
+++ b/lake/lake_example/copy_to_inbox.sh
@@ -1,24 +1,5 @@
 #!/usr/bin/env bash
-# 将 lake_example 样例复制到 HSAP 数据湖 inbox（不覆盖已有批次）
+# 兼容入口：请优先使用 scripts/seed_lake_example.sh
 set -euo pipefail
-SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
-HSAP_ROOT="${HSAP_ROOT:-$(cd "$SCRIPT_DIR/../HSAP" && pwd)}"
-SRC="$SCRIPT_DIR/datasets"
-
-echo "HSAP_ROOT=$HSAP_ROOT"
-echo "源: $SRC"
-echo ""
-echo "业务线 → 目标路径:"
-echo "  DMS cabin (addw/ddaw/...)     → datasets/dms/inbox/"
-echo "  ADAS 2D (adas/inbox/det_7cls) → datasets/adas/inbox/det_7cls/"
-echo "  ADAS 3D (adas/inbox/cuboid)   → datasets/adas/inbox/cuboid_7cls/"
-echo "  车道线 (lane/inbox)           → datasets/lane/inbox/"
-echo ""
-
-rsync -av --ignore-existing "$SRC/dms/inbox/" "$HSAP_ROOT/datasets/dms/inbox/"
-rsync -av --ignore-existing "$SRC/adas/inbox/" "$HSAP_ROOT/datasets/adas/inbox/"
-rsync -av --ignore-existing "$SRC/lane/inbox/" "$HSAP_ROOT/datasets/lane/inbox/"
-
-echo ""
-echo "完成。请到 批次台账 → 扫描数据湖 → 登记。"
-echo "索引: $SRC/README.md  |  manifest: $SRC/manifest.yaml"
+ROOT="$(cd "$(dirname "$0")/../.." && pwd)"
+exec bash "$ROOT/scripts/seed_lake_example.sh"
diff --git a/scripts/init_after_clone.sh b/scripts/init_after_clone.sh
index 4c58da0..fbc8726 100755
--- a/scripts/init_after_clone.sh
+++ b/scripts/init_after_clone.sh
@@ -9,13 +9,21 @@ cd "$ROOT"
 
 DEFAULT_WS="$(cd "$ROOT/.." && pwd)/workspace"
 DEFAULT_DATA="$(cd "$ROOT/.." && pwd)/data"
+mkdir -p "$DEFAULT_DATA/送标/adas/inbox"
 
 if grep -q '^# AS_WORKSPACE_ROOT=' .env && [[ -d "$DEFAULT_WS/DMS" ]]; then
   sed -i "s|^# AS_WORKSPACE_ROOT=.*|AS_WORKSPACE_ROOT=$DEFAULT_WS|" .env
   echo "已设置 AS_WORKSPACE_ROOT=$DEFAULT_WS"
 fi
 
-if grep -q '^# AS_DATA_LAKE_HOST=' .env && [[ -d "$DEFAULT_DATA" ]]; then
+if ! grep -q '^AS_DATA_LAKE_HOST=' .env 2>/dev/null; then
+  if grep -q '^# AS_DATA_LAKE_HOST=' .env; then
+    sed -i "s|^# AS_DATA_LAKE_HOST=.*|AS_DATA_LAKE_HOST=$DEFAULT_DATA|" .env
+  else
+    echo "AS_DATA_LAKE_HOST=$DEFAULT_DATA" >> .env
+  fi
+  echo "已设置 AS_DATA_LAKE_HOST=$DEFAULT_DATA"
+elif grep -q '^# AS_DATA_LAKE_HOST=' .env && [[ -d "$DEFAULT_DATA" ]]; then
   sed -i "s|^# AS_DATA_LAKE_HOST=.*|AS_DATA_LAKE_HOST=$DEFAULT_DATA|" .env
   echo "已设置 AS_DATA_LAKE_HOST=$DEFAULT_DATA"
 fi
@@ -42,6 +50,10 @@ if [[ ! -f platform/ui-hsap/dist/index.html ]]; then
   fi
 fi
 
+echo ""
+echo "植入送标样例（lake_example）…"
+bash scripts/seed_lake_example.sh
+
 echo ""
 echo "下一步:"
 echo "  1. 编辑 .env — 路径与 AS_FRONTEND_URL / CVAT_PUBLIC_URL（局域网部署必改）"
diff --git a/scripts/seed_lake_example.sh b/scripts/seed_lake_example.sh
new file mode 100755
index 0000000..2ae66df
--- /dev/null
+++ b/scripts/seed_lake_example.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+# 将 lake/lake_example 样例批次复制到数据湖 inbox，供接手人走通送标流程
+set -euo pipefail
+ROOT="$(cd "$(dirname "$0")/.." && pwd)"
+cd "$ROOT"
+
+SRC="$ROOT/lake/lake_example/datasets"
+if [[ ! -d "$SRC/dms/inbox" ]]; then
+  echo "未找到 $SRC，请确认已 git clone 完整仓库"
+  exit 1
+fi
+
+# 数据湖根目录（与 docker-compose AS_DATA_LAKE_HOST 一致）
+DATA_LAKE="$(cd "$ROOT/.." && pwd)/data"
+if [[ -f .env ]]; then
+  val="$(grep -E '^AS_DATA_LAKE_HOST=' .env 2>/dev/null | head -1 | cut -d= -f2- | tr -d '"' || true)"
+  [[ -n "$val" ]] && DATA_LAKE="$val"
+fi
+
+ADAS_LAKE="$DATA_LAKE/送标/adas"
+mkdir -p "$ADAS_LAKE/inbox" "$ROOT/datasets/dms/inbox" "$ROOT/datasets/lane/inbox"
+
+# ADAS 走数据湖挂载；DMS/Lane 在仓库 datasets/ 下
+if [[ ! -e "$ROOT/datasets/adas" ]]; then
+  ln -sfn ../../data/送标/adas "$ROOT/datasets/adas"
+  echo "已创建 datasets/adas → data/送标/adas"
+elif [[ -L "$ROOT/datasets/adas" ]]; then
+  echo "datasets/adas 软链已存在"
+else
+  echo "警告: datasets/adas 已存在且非软链，ADAS 样例将写入该目录"
+fi
+
+RSYNC=(rsync -rlpt --no-owner --no-group --ignore-existing)
+
+echo "数据湖根: $DATA_LAKE"
+echo "复制 lake_example → inbox（不覆盖已有批次）…"
+echo ""
+
+"${RSYNC[@]}" "$SRC/dms/inbox/" "$ROOT/datasets/dms/inbox/"
+"${RSYNC[@]}" "$SRC/lane/inbox/" "$ROOT/datasets/lane/inbox/"
+mkdir -p "$ADAS_LAKE/inbox"
+"${RSYNC[@]}" "$SRC/adas/inbox/" "$ADAS_LAKE/inbox/"
+
+echo ""
+echo "样例批次已就位。manifest: lake/lake_example/datasets/manifest.yaml"
+echo ""
+echo "平台启动后走通流程:"
+echo "  1. 登录 http://127.0.0.1:8787 （AS_DEV_AUTH=true 开发登录）"
+echo "  2. 批次台账 → 扫描数据湖 → 勾选样例 → 登记到台账"
+echo "  3. 送标工作台 → 选择批次 → 开标"
+echo "  4. 标注进度 → 分配任务 → 标注员「我的标注」进入 CVAT"
+echo ""
+echo "推荐先试: adas/det_7cls/20260616_adas2d_pilot 或 adas/cuboid_7cls/20260616_3d_pilot"