LiDAR-Transfer
Code for Langer et al. "Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks", IROS, 2020.
Content
- Convert datasets (NUSCENES, FORD, NCLT) to KITTI format
- Minimal dataset minimal.zip
- Visualize with visualizer.py
- Transfer datasets lidar_deform.py
Usage
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 https://github.com/vispy/vispy.git
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
- Unzip
minimal.zip - Run
python lidar_deform.py -d minimal - Run with target sensor
python lidar_deform.py -d minimal -t minimal/target.yaml - Change parameter in
config/lidar_transfer.yaml
