map.md

Map Training

Whenever training and evaluating, please edit the config paths (and checkpoint paths if testing) in the bash file. Also, change the data paths in the config files to your nuscenes raw data and processed annotation data.

MapTR

Training

Run

cd MapTR_modified/
source train.sh      

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/MapTR_modified"

python tools/train.py \
  projects/configs/maptr/maptr_tiny_r50_24e.py \
  --deterministic \
  --no-validate

Evaluation

Run

cd MapTR_modified/
source test.sh                                  

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/MapTR_modified"

python tools/test.py \
  projects/configs/maptr/maptr_tiny_r50_24e.py \
  work_dirs/maptr_tiny_r50_24e/YOURCHECKPOINT.pth \
  --eval chamfer

MapTRv2

Training

Run

cd MapTRv2_modified/
source train.sh      

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/MapTRv2_modified"

python tools/train.py \
  projects/configs/maptrv2/maptrv2_nusc_r50_24ep.py \
  --deterministic \
  --no-validate

Evaluation

Run

cd MapTRv2_modified/
source test.sh                                  

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/MapTRv2_modified"

python tools/test.py \
  projects/configs/maptrv2/maptrv2_nusc_r50_24ep.py \
  work_dirs/maptrv2_nusc_r50_24ep/YOURCHECKPOINT.pth \
  --eval chamfer

StreamMapNet

Training

Run

cd StreamMapNet_modified/
source train.sh      

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/StreamMapNet_modified"

python tools/train.py \
  plugin/configs/nusc_newsplit_480_60x30_24e.py \
  --deterministic \
  --no-validate

Evaluation

Run

cd StreamMapNet_modified/
source test.sh                                  

Or by running:

export PYTHONPATH="${PYTHONPATH}:/MapUncertaintyPrediction/StreamMapNet_modified"

python tools/test.py \
  plugin/configs/nusc_newsplit_480_60x30_24e.py \
  work_dirs/nusc_newsplit_480_60x30_24e/YOURCHECKPOINT.pth \
  --eval