Update README.md

README.md

@@ -12,3 +12,40 @@ tags:
 This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
 - Code: https://github.com/cvg/Map-Det3D
 - Paper: https://arxiv.org/abs/2608.12179
+
+Usage:
+
+```python
+import torch
+
+from mapdet3d.model.mapdet3d import MapDet3D
+from mapdet3d.op.mapdet3d.head import RoI2Det
+
+device = "cuda" if torch.cuda.is_available() else "cpu"
+
+# TF32
+torch.backends.cuda.matmul.allow_tf32 = True
+torch.backends.cudnn.allow_tf32 = True
+
+torch.set_float32_matmul_precision("highest")
+
+# Init model
+model = MapDet3D.from_pretrained("RoyYang0714/Map-Det3D").to(device)
+
+# (Optional) Enable tracking
+model.track_whole_scene = True
+model.roi2det = RoI2Det(nms=True, score_threshold=0.25, iou_threshold=0.5)
+
+# Inference
+model.eval()
+
+with torch.no_grad():
+
+with torch.autocast("cuda", enabled=True, dtype=torch.bfloat16):
+    predictions: MapDet3DOut = model(
+        images=[image],
+        intrinsics=[intrinsics],
+        extrinsics=[extrinsics],
+        frame_ids=[frame_id],
+    )
+```