Prerequisites

Please ensure you have prepared the environment and the nuScenes dataset.

Train and Test

Train MapFM with 1 GPU with gradient accumulation

./tools/dist_train.sh ./projects/configs/mapfm/mapfm_nusc_dino2s_24ep.py 1

Eval MapFM with 1 GPU

./tools/dist_test_map.sh ./projects/configs/mapfm/mapfm_nusc_dino2s_24ep.py ./path/to/ckpts.pth 1

we provide tools for visualization and benchmark under path/to/MapFM/tools/maptrv2