88 lines
2.3 KiB
Bash
Executable File
88 lines
2.3 KiB
Bash
Executable File
#!/bin/bash
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# batch_convert.sh
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# 在已运行的 ROS 容器内执行，批量转换尚未转换的数据集
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#
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# 用法（容器内）:
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# cd /mnt && bash batch_convert.sh
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#
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# 它会自动检测:
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# - 哪些 .bag 文件尚未转换（通过检查 dataset/<name>/metadata.json）
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# - 跳过已转换的数据集
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set -e
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SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
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OUTPUT_DIR="${SCRIPT_DIR}/dataset"
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BAG_DIR="${SCRIPT_DIR}/bags"
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# 已转换的数据集列表（通过检查 metadata.json）
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echo "=========================================="
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echo "批量转换 UZH FPV 数据集"
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echo "=========================================="
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# 收集所有 bag 文件
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BAG_FILES=()
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while IFS= read -r -d '' f; do
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BAG_FILES+=("$f")
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done < <(find "$BAG_DIR" -maxdepth 2 -name "*_davis_with_gt.bag" -print0)
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if [ ${#BAG_FILES[@]} -eq 0 ]; then
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echo "❌ 未找到任何 .bag 文件"
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exit 1
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fi
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echo "找到 ${#BAG_FILES[@]} 个 bag 文件"
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# 逐个检查并转换
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CONVERTED=0
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SKIPPED=0
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FAILED=0
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for bag_path in "${BAG_FILES[@]}"; do
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bag_name="$(basename "$bag_path")"
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dataset_name="${bag_name%_davis_with_gt.bag}"
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# 检查是否已转换
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metadata_file="${OUTPUT_DIR}/${dataset_name}/metadata.json"
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if [ -f "$metadata_file" ]; then
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echo " ⏭️ 跳过 ${dataset_name} (已转换)"
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SKIPPED=$((SKIPPED + 1))
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continue
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fi
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echo ""
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echo " 🔄 转换: ${dataset_name}"
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# 检查依赖
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if ! python3 -c "import webdataset" 2>/dev/null; then
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echo " ⚠️ 正在安装 webdataset..."
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pip3 install webdataset tqdm scipy 2>/dev/null || {
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echo " ❌ pip install 失败，跳过 ${dataset_name}"
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FAILED=$((FAILED + 1))
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continue
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}
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fi
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# 执行转换
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if python3 "${SCRIPT_DIR}/rosbag2wds.py" \
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--bag "$bag_path" \
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--output "$OUTPUT_DIR" \
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--name "$dataset_name" \
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--shard_size 2000 \
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--width 320 --height 240; then
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echo " ✅ ${dataset_name} 转换完成"
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CONVERTED=$((CONVERTED + 1))
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else
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echo " ❌ ${dataset_name} 转换失败"
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FAILED=$((FAILED + 1))
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fi
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done
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echo ""
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echo "=========================================="
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echo "批量转换结束"
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echo " 已转换: ${CONVERTED}"
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echo " 已跳过: ${SKIPPED}"
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echo " 失败: ${FAILED}"
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echo "=========================================="
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