@xinggangw @wondervictor @outsidercsy @ifzhang @LegendBC In the MapTR and MapTRv2 papers you have mentioned lidar only modality.
Method Modality Backbone Epoch AP ped. div. bou. mean FPS
MapTR L Sec 24 48.5 53.7 64.7 55.6 8.0
MapTRv2 L Sec 24 56.6 58.1 69.8 61.5 7.6

can you please provide their codes. I am working on only lidar to generate HD maps. it would be a great help for me.