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

Train and Evaluate

Train RTMap with 8 GPUs

./tools/dist_train.sh ./projects/configs/rtmap/rtmap_tbv_2d_r50_36ep.py 8

Eval RTMap with 8 GPUs

./tools/dist_test_map.sh ./projects/configs/rtmap/rtmap_tbv_2d_r50_36ep.py ./path/to/ckpts.pth 8

Demo and Visualization

python ./tools/rtmap/rtmap_demo.py ./path/to/config.py ./path/to/ckpts.pth --show-cam