{"id":13670605,"url":"https://github.com/jingy1yu/ScalableMap","last_synced_at":"2025-04-27T13:32:39.101Z","repository":{"id":217142380,"uuid":"701737603","full_name":"jingy1yu/ScalableMap","owner":"jingy1yu","description":"The official repository for ScalableMap (CoRL 2023)","archived":false,"fork":false,"pushed_at":"2024-06-05T12:34:09.000Z","size":3602,"stargazers_count":64,"open_issues_count":2,"forks_count":2,"subscribers_count":14,"default_branch":"main","last_synced_at":"2024-11-11T08:43:02.183Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/jingy1yu.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-10-07T12:21:19.000Z","updated_at":"2024-10-24T14:59:44.000Z","dependencies_parsed_at":null,"dependency_job_id":"69faba6b-981a-4b81-b4a4-cb0e29c22c5c","html_url":"https://github.com/jingy1yu/ScalableMap","commit_stats":null,"previous_names":["jingy1yu/scalablemap"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jingy1yu%2FScalableMap","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jingy1yu%2FScalableMap/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jingy1yu%2FScalableMap/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jingy1yu%2FScalableMap/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/jingy1yu","download_url":"https://codeload.github.com/jingy1yu/ScalableMap/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251145652,"owners_count":21543075,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-02T09:00:46.154Z","updated_at":"2025-04-27T13:32:34.079Z","avatar_url":"https://github.com/jingy1yu.png","language":"Python","funding_links":[],"categories":["Online HD map construction"],"sub_categories":["2023"],"readme":"# ScalableMap\nThe official repository for ScalableMap (CoRL 2023)\n\n## Environment Preparation\n```shell\nconda create -n smap python=3.8 -y\nconda activate smap\npip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 torchaudio==0.9.1 -f https://download.pytorch.org/whl/torch_stable.html\nconda install -c omgarcia gcc-5\npip install mmcv-full==1.4.0 -f https://download.openmmlab.com/mmcv/dist/cu111/torch1.9.0/index.html\npip install mmdet==2.14.0\npip install mmsegmentation==0.14.1\npip install timm\n\ncd ./mmdetection3d\npython setup.py develop\ncd ..\n\npip install -r requirement.txt\n```\n## Data Preparation\n### Nuscenes\n```\n# download 'can_bus.zip'\nunzip can_bus.zip \n# move can_bus to data dir\n```\n```\npython tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0 --canbus ./data\n```\n**Folder structure**\n```\nScalableMap\n├── mmdetection3d/\n├── projects/\n├── tools/\n├── ckpts/\n├── data/\n│   ├── can_bus/\n│   ├── nuscenes/\n│   │   ├── maps/\n│   │   ├── samples/\n│   │   ├── sweeps/\n│   │   ├── v1.0-test/\n|   |   ├── v1.0-trainval/\n|   |   ├── nuscenes_infos_temporal_train.pkl\n|   |   ├── nuscenes_infos_temporal_val.pkl\n```\n\n### 2.Eval/FPS Test/Train/Visualization\n#### Eval\nEvaluate ScalableMap with 8 GPUs\n```\n./tools/dist_test_map.sh ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py ./ckpts/epoch_110.pth 1\n```\n\n#### FPS test\n```\n./tools/maptr/benchmark.py ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py --checkpoint ./ckpts/epoch_110.pth\n```\n\n#### Train\nTrain ScalableMap with 8 GPUs\n```\n./tools/dist_train.sh ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py 8\n```\n\n#### Visualization\n```\n./tools/scalablemap/gt_pred_comparison.py ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py 8\n```\n\n## Acknowledgements\nScalableMap is based on mmdetection3d. It's also inspired by the following outstanding contributions to the open-source community: BEVFormer, HDMapNet, VectorMapNet, MapTR.\n\n## Citation\nIf our code or models help your work, , please consider citing the following bibtex:\n```\n@inproceedings{yu2023scalablemap,\n  title={ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Construction},\n  author={Yu, Jingyi and Zhang, Zizhao and Xia, Shengfu and Sang, Jizhang},\n  booktitle={Conference on Robot Learning},\n  pages={2429--2443},\n  year={2023},\n  organization={PMLR}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjingy1yu%2FScalableMap","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjingy1yu%2FScalableMap","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjingy1yu%2FScalableMap/lists"}