331 lines
11 KiB
Bash
331 lines
11 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
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PROJECT_ROOT=$(cd "${SCRIPT_DIR}/../.." && pwd)
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CASE_LIST=${CASE_LIST:-"${PROJECT_ROOT}/tools/feishu_project/cncap_case.txt"}
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SYNC_ROOT=${SYNC_ROOT:-/data1/dongying/Mono3d/CNCAP/feishu_project}
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EXPORT_JSON=${EXPORT_JSON:-"${SYNC_ROOT}/exports/cncap_case_issue_list.json"}
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CASE_INDEX_JSON=${CASE_INDEX_JSON:-"${SYNC_ROOT}/exports/cncap_case_issue_index.json"}
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DOWNLOAD_ROOT=${DOWNLOAD_ROOT:-"${SYNC_ROOT}/downloaded_issue_data"}
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DOWNLOAD_MANIFEST_PATH=${DOWNLOAD_MANIFEST_PATH:-"${DOWNLOAD_ROOT}/download_manifest.json"}
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INFERENCE_ROOT=${INFERENCE_ROOT:-"${SYNC_ROOT}/inference_issue_data"}
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INFERENCE_MANIFEST_PATH=${INFERENCE_MANIFEST_PATH:-"${INFERENCE_ROOT}/inference_manifest.json"}
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PYTHON_BIN=${PYTHON_BIN:-/deeplearning_team/ydong/dongying/miniconda/envs/dev/bin/python}
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RUN_BUILD=${RUN_BUILD:-1}
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RUN_DOWNLOAD=${RUN_DOWNLOAD:-1}
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RUN_INFERENCE=${RUN_INFERENCE:-1}
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ENABLE_TRACKING=${ENABLE_TRACKING:-1}
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ENABLE_CONVERT=${ENABLE_CONVERT:-1}
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ENABLE_VISUALIZE=${ENABLE_VISUALIZE:-0}
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ENABLE_TEMPORAL_ANALYSIS=${ENABLE_TEMPORAL_ANALYSIS:-0}
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SKIP_EXISTING_INFERENCE=${SKIP_EXISTING_INFERENCE:-1}
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DRY_RUN=${DRY_RUN:-0}
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USE_ISSUE_FRAME_WINDOW=${USE_ISSUE_FRAME_WINDOW:-0}
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FRAME_BEFORE=${FRAME_BEFORE:-200}
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FRAME_AFTER=${FRAME_AFTER:-200}
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MISSING_ISSUE_FRAME_POLICY=${MISSING_ISSUE_FRAME_POLICY:-full}
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FRAME_INDEX_START=${FRAME_INDEX_START:-}
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FRAME_INDEX_END=${FRAME_INDEX_END:-}
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FRAME_ID_START=${FRAME_ID_START:-}
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FRAME_ID_END=${FRAME_ID_END:-}
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TARGET_FRAME_ID=${TARGET_FRAME_ID:-}
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VIDEO_STRIDE=${VIDEO_STRIDE:-1}
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MAX_IMAGES=${MAX_IMAGES:-0}
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EXPORTED_MODEL=${EXPORTED_MODEL:-${PROJECT_ROOT}/runs/export/train_mono3d_two_roi_20260416-raw_no_edge/merged_model.torchscript}
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DEVICE=${DEVICE:-}
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PROVIDERS=${PROVIDERS:-}
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ENABLE_ATTR=${ENABLE_ATTR:-0}
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ENABLE_CROSS_CLASS_MERGE_PRIOR=${ENABLE_CROSS_CLASS_MERGE_PRIOR:-1}
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SAVE_AGGREGATE_PREDICTIONS=${SAVE_AGGREGATE_PREDICTIONS:-1}
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INFERENCE_EXTRA_ARGS=${INFERENCE_EXTRA_ARGS:-}
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TRACK_CLASSES=${TRACK_CLASSES:-0 1 2 3 4 5 6 7 8 9 10 11 12}
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IOU_THRESH=${IOU_THRESH:-0.3}
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MAX_AGE=${MAX_AGE:-5}
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MIN_HITS=${MIN_HITS:-1}
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DIST_THRESH=${DIST_THRESH:-100}
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MAX_3D_DISTANCE=${MAX_3D_DISTANCE:-10.0}
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MAX_FRAMES=${MAX_FRAMES:-}
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MERGE_OUTPUT_NAME=${MERGE_OUTPUT_NAME:-combined_tracking.json}
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FILE_PATTERN=${FILE_PATTERN:-*.json}
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ENABLE_USE_3D=${ENABLE_USE_3D:-0}
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CONVERT_OUTPUT_DIR_NAME=${CONVERT_OUTPUT_DIR_NAME:-objectlist}
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CONVERT_TRACKING_JSON_NAME=${CONVERT_TRACKING_JSON_NAME:-merge.json}
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CONVERT_CAM_ID=${CONVERT_CAM_ID:-}
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VIS_DOWNLOAD_ROOT=${VIS_DOWNLOAD_ROOT:-"${DOWNLOAD_ROOT}"}
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VIS_OUTPUT_ROOT=${VIS_OUTPUT_ROOT:-}
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VIS_OUTPUT_DIR_NAME=${VIS_OUTPUT_DIR_NAME:-tracking_vis_raw}
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VIS_TRACKING_JSON_NAME=${VIS_TRACKING_JSON_NAME:-merge.json}
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VIS_MAX_FRAMES=${VIS_MAX_FRAMES:-}
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VIS_CLASS_ID=${VIS_CLASS_ID:-}
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VIS_TRACK_IDS=${VIS_TRACK_IDS:-}
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VIS_SHOW_TRAJECTORY=${VIS_SHOW_TRAJECTORY:-0}
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TEMPORAL_OUTPUT_ROOT=${TEMPORAL_OUTPUT_ROOT:-}
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TEMPORAL_OUTPUT_DIR_NAME=${TEMPORAL_OUTPUT_DIR_NAME:-temporal_observation}
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TEMPORAL_JSON_NAME=${TEMPORAL_JSON_NAME:-merge.json}
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TEMPORAL_MIN_LENGTH=${TEMPORAL_MIN_LENGTH:-3}
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TEMPORAL_TRACK_IDS=${TEMPORAL_TRACK_IDS:-}
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TEMPORAL_CLASS_ID=${TEMPORAL_CLASS_ID:-}
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TEMPORAL_FRAME_ID_START=${TEMPORAL_FRAME_ID_START:-}
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TEMPORAL_FRAME_ID_END=${TEMPORAL_FRAME_ID_END:-}
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TEMPORAL_PLOTS=${TEMPORAL_PLOTS:-0}
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TEMPORAL_EXPORT_SERIES=${TEMPORAL_EXPORT_SERIES:-1}
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TEMPORAL_FOCUS_TRACK_PLOTS=${TEMPORAL_FOCUS_TRACK_PLOTS:-1}
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TEMPORAL_PREFER_EGO=${TEMPORAL_PREFER_EGO:-1}
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TEMPORAL_X_AXIS=${TEMPORAL_X_AXIS:-frame_id}
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TEMPORAL_HEADING_SOURCE=${TEMPORAL_HEADING_SOURCE:-camera_reg}
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TRACKING_MODEL_VERSION=${TRACKING_MODEL_VERSION:-}
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SKIP_MDI=${SKIP_MDI:-0}
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SKIP_COPY=${SKIP_COPY:-0}
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ONLY_REDOWNLOAD_AFFECTED_CASES=${ONLY_REDOWNLOAD_AFFECTED_CASES:-0}
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ID_BASE=${ID_BASE:-9000000000}
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CASE_JSON_BUILDER=${CASE_JSON_BUILDER:-"${PROJECT_ROOT}/tools/feishu_project/build_cncap_case_issue_json.py"}
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DOWNLOAD_WRAPPER=${DOWNLOAD_WRAPPER:-"${PROJECT_ROOT}/tools/feishu_project/download_issue_data.sh"}
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INFERENCE_WRAPPER=${INFERENCE_WRAPPER:-"${PROJECT_ROOT}/tools/feishu_project/run_issue_data_inference.sh"}
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TRACKING_WRAPPER=${TRACKING_WRAPPER:-"${PROJECT_ROOT}/tools/feishu_project/run_issue_data_tracking.sh"}
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ISSUE_ID_ARGS=()
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ISSUE_ID_VALUES=()
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show_usage() {
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cat <<EOF
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Usage:
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bash $(basename "${BASH_SOURCE[0]}") [--issue-id <id>]...
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Environment variables:
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CASE_LIST, SYNC_ROOT, EXPORT_JSON, CASE_INDEX_JSON
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DOWNLOAD_ROOT, INFERENCE_ROOT, EXPORTED_MODEL
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RUN_BUILD, RUN_DOWNLOAD, RUN_INFERENCE, ENABLE_TRACKING
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ENABLE_CONVERT, ENABLE_VISUALIZE, ENABLE_TEMPORAL_ANALYSIS
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DRY_RUN, ID_BASE
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EOF
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}
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while (($# > 0)); do
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case "$1" in
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--issue-id)
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if (($# < 2)); then
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echo "Error: --issue-id requires a value" >&2
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exit 1
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fi
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ISSUE_ID_ARGS+=("$1" "$2")
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ISSUE_ID_VALUES+=("$2")
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shift 2
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;;
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--issue-id=*)
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issue_id="${1#*=}"
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ISSUE_ID_ARGS+=("$1")
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ISSUE_ID_VALUES+=("${issue_id}")
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shift
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;;
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-h|--help)
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show_usage
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exit 0
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;;
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*)
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echo "Error: unsupported option: $1" >&2
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show_usage >&2
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exit 1
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;;
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esac
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done
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print_stage() {
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local stage_name="$1"
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echo ""
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echo "######################################################################"
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echo "# ${stage_name}"
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echo "######################################################################"
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}
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resolve_tracking_model_version() {
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if [[ -n "${TRACKING_MODEL_VERSION}" ]]; then
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printf '%s\n' "${TRACKING_MODEL_VERSION}"
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return 0
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fi
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if [[ -n "${EXPORTED_MODEL}" ]] && [[ "${EXPORTED_MODEL}" =~ ([0-9]{8}) ]]; then
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printf '%s\n' "${BASH_REMATCH[1]}"
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return 0
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fi
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return 1
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}
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has_local_video_cases() {
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local search_root="$1"
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shift || true
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if [[ ! -d "${search_root}" ]]; then
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return 1
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fi
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if [[ "$#" -eq 0 ]]; then
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[[ -n "$(find "${search_root}" -type f -path '*/sigmastar.1/camera4.bin' -print -quit)" ]]
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return
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fi
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local issue_id=""
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for issue_id in "$@"; do
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if [[ -d "${search_root}/issue_${issue_id}" ]] && [[ -n "$(find "${search_root}/issue_${issue_id}" -type f -path '*/sigmastar.1/camera4.bin' -print -quit)" ]]; then
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return 0
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fi
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done
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return 1
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}
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TMP_ROOT=""
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EFFECTIVE_EXPORT_JSON="${EXPORT_JSON}"
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EFFECTIVE_CASE_INDEX_JSON="${CASE_INDEX_JSON}"
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cleanup() {
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if [[ -n "${TMP_ROOT}" && -d "${TMP_ROOT}" ]]; then
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rm -rf "${TMP_ROOT}"
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fi
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}
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trap cleanup EXIT
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if [[ "${DRY_RUN}" == "1" && "${RUN_BUILD}" == "1" ]]; then
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TMP_ROOT=$(mktemp -d /tmp/cncap_case_pipeline.XXXXXX)
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EFFECTIVE_EXPORT_JSON="${TMP_ROOT}/cncap_case_issue_list.json"
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EFFECTIVE_CASE_INDEX_JSON="${TMP_ROOT}/cncap_case_issue_index.json"
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fi
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export PYTHON_BIN
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export TRACK_CLASSES
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export IOU_THRESH
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export MAX_AGE
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export MIN_HITS
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export DIST_THRESH
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export MAX_3D_DISTANCE
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export MAX_FRAMES
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export MERGE_OUTPUT_NAME
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export FILE_PATTERN
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export ENABLE_USE_3D
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export ENABLE_CONVERT
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export ENABLE_VISUALIZE
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export ENABLE_TEMPORAL_ANALYSIS
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export CONVERT_OUTPUT_DIR_NAME
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export CONVERT_TRACKING_JSON_NAME
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export CONVERT_CAM_ID
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export VIS_DOWNLOAD_ROOT
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export VIS_OUTPUT_ROOT
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export VIS_OUTPUT_DIR_NAME
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export VIS_TRACKING_JSON_NAME
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export VIS_MAX_FRAMES
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export VIS_CLASS_ID
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export VIS_TRACK_IDS
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export VIS_SHOW_TRAJECTORY
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export TEMPORAL_OUTPUT_ROOT
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export TEMPORAL_OUTPUT_DIR_NAME
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export TEMPORAL_JSON_NAME
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export TEMPORAL_MIN_LENGTH
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export TEMPORAL_TRACK_IDS
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export TEMPORAL_CLASS_ID
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export TEMPORAL_FRAME_ID_START
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export TEMPORAL_FRAME_ID_END
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export TEMPORAL_PLOTS
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export TEMPORAL_EXPORT_SERIES
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export TEMPORAL_FOCUS_TRACK_PLOTS
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export TEMPORAL_PREFER_EGO
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export TEMPORAL_X_AXIS
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export TEMPORAL_HEADING_SOURCE
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if [[ "${RUN_BUILD}" == "1" ]]; then
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print_stage "Build CNCAP Synthetic Issue JSON"
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echo "CASE_LIST : ${CASE_LIST}"
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echo "EXPORT_JSON : ${EFFECTIVE_EXPORT_JSON}"
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echo "CASE_INDEX_JSON : ${EFFECTIVE_CASE_INDEX_JSON}"
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echo "ID_BASE : ${ID_BASE}"
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"${PYTHON_BIN}" "${CASE_JSON_BUILDER}" \
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--input "${CASE_LIST}" \
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--output "${EFFECTIVE_EXPORT_JSON}" \
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--case-index-output "${EFFECTIVE_CASE_INDEX_JSON}" \
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--id-base "${ID_BASE}"
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elif [[ ! -f "${EFFECTIVE_EXPORT_JSON}" ]]; then
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echo "Error: export json does not exist and RUN_BUILD=0: ${EFFECTIVE_EXPORT_JSON}" >&2
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exit 1
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fi
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if [[ "${RUN_DOWNLOAD}" == "1" ]]; then
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print_stage "Download CNCAP Case Data"
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INPUT_JSON="${EFFECTIVE_EXPORT_JSON}" \
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OUTPUT_ROOT="${DOWNLOAD_ROOT}" \
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MANIFEST_PATH="${DOWNLOAD_MANIFEST_PATH}" \
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PYTHON_BIN="${PYTHON_BIN}" \
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DRY_RUN="${DRY_RUN}" \
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SKIP_MDI="${SKIP_MDI}" \
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SKIP_COPY="${SKIP_COPY}" \
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ONLY_REDOWNLOAD_AFFECTED_CASES="${ONLY_REDOWNLOAD_AFFECTED_CASES}" \
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bash "${DOWNLOAD_WRAPPER}" "${ISSUE_ID_ARGS[@]}"
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fi
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if [[ "${RUN_INFERENCE}" == "1" ]]; then
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if [[ "${DRY_RUN}" == "1" ]] && ! has_local_video_cases "${DOWNLOAD_ROOT}" "${ISSUE_ID_VALUES[@]}"; then
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print_stage "Skip CNCAP Inference"
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echo "Skipping inference in dry-run because no local downloaded camera4.bin cases were found."
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echo "Run download without DRY_RUN first, or reuse an existing DOWNLOAD_ROOT to plan inference."
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else
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print_stage "Run CNCAP Inference"
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DOWNLOAD_ROOT="${DOWNLOAD_ROOT}" \
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OUTPUT_ROOT="${INFERENCE_ROOT}" \
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MANIFEST_PATH="${INFERENCE_MANIFEST_PATH}" \
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PYTHON_BIN="${PYTHON_BIN}" \
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ISSUE_JSON="${EFFECTIVE_EXPORT_JSON}" \
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VIDEO_STRIDE="${VIDEO_STRIDE}" \
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MAX_IMAGES="${MAX_IMAGES}" \
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FRAME_INDEX_START="${FRAME_INDEX_START}" \
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FRAME_INDEX_END="${FRAME_INDEX_END}" \
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FRAME_ID_START="${FRAME_ID_START}" \
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FRAME_ID_END="${FRAME_ID_END}" \
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TARGET_FRAME_ID="${TARGET_FRAME_ID}" \
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FRAME_BEFORE="${FRAME_BEFORE}" \
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FRAME_AFTER="${FRAME_AFTER}" \
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USE_ISSUE_FRAME_WINDOW="${USE_ISSUE_FRAME_WINDOW}" \
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MISSING_ISSUE_FRAME_POLICY="${MISSING_ISSUE_FRAME_POLICY}" \
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EXPORTED_MODEL="${EXPORTED_MODEL}" \
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DEVICE="${DEVICE}" \
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PROVIDERS="${PROVIDERS}" \
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ENABLE_ATTR="${ENABLE_ATTR}" \
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ENABLE_CROSS_CLASS_MERGE_PRIOR="${ENABLE_CROSS_CLASS_MERGE_PRIOR}" \
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SAVE_AGGREGATE_PREDICTIONS="${SAVE_AGGREGATE_PREDICTIONS}" \
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SKIP_EXISTING="${SKIP_EXISTING_INFERENCE}" \
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DRY_RUN="${DRY_RUN}" \
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ENABLE_TRACKING=0 \
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INFERENCE_EXTRA_ARGS="${INFERENCE_EXTRA_ARGS}" \
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bash "${INFERENCE_WRAPPER}" "${ISSUE_ID_ARGS[@]}"
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fi
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fi
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if [[ "${ENABLE_TRACKING}" != "1" ]]; then
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exit 0
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fi
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if [[ "${DRY_RUN}" == "1" ]]; then
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print_stage "Skip CNCAP Tracking"
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echo "Skipping tracking because DRY_RUN=1."
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exit 0
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fi
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TRACKING_MODEL_VERSION_RESOLVED=$(resolve_tracking_model_version || true)
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|
|
print_stage "Run CNCAP Tracking/Convert Workflow"
|
||
|
|
echo "INFERENCE_ROOT : ${INFERENCE_ROOT}"
|
||
|
|
echo "VIS_DOWNLOAD_ROOT : ${VIS_DOWNLOAD_ROOT}"
|
||
|
|
if [[ -n "${TRACKING_MODEL_VERSION_RESOLVED}" ]]; then
|
||
|
|
echo "TRACKING_MODEL_VERSION : ${TRACKING_MODEL_VERSION_RESOLVED}"
|
||
|
|
fi
|
||
|
|
|
||
|
|
RESULTS_ROOT="${INFERENCE_ROOT}" \
|
||
|
|
PYTHON_BIN="${PYTHON_BIN}" \
|
||
|
|
TRACKING_MODEL_VERSION="${TRACKING_MODEL_VERSION_RESOLVED}" \
|
||
|
|
bash "${TRACKING_WRAPPER}" "${INFERENCE_ROOT}" "${ISSUE_ID_ARGS[@]}"
|