Code for Langer et al. "Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks", IROS, 2020.



Install Dependencies
pip install pyaml pyqt5 scikit-image scipy torchvision

pip install pycuda

pip install vispy

Or use local installation to apply antialias patch

git clone
cd vispy
git apply ../lidar_transfer/vispy_antialias.patch
pip install -e .

Finally, you have to compile the ray tracer in auxiliary/raytracer, i.e.,

$ cd auxiliary/raytracer/ 
$ make
Get started
  1. Unzip
  2. Run
    python -d minimal
  3. Run with target sensor
    python -d minimal -t minimal/target.yaml
  4. Change parameter in config/lidar_transfer.yaml