> For the complete documentation index, see [llms.txt](https://pcl.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://pcl.gitbook.io/tutorial/part-3/part03-chapter02/part03-chapter02-denselidarnet.md).

# DenseLidarNet (50%)

Generating Dense Lidar Data using cues from monocular image and sparse lidar data.

![](https://github.com/345ishaan/DenseLidarNet/raw/master/imgs/1.png)

## 설치

```
python 2.7
pip install torch==0.4.1 -f https://download.pytorch.org/whl/cu80/stable
pip install https://download.pytorch.org/whl/torchvision-0.1.6-py2-none-any.whl
pip install tqdm h5py ipdb
```

## 학습 데이터 생성 (KITTI)

```
$ vi utils/datagen_v2.py

self.kitti_img_dir = '/media/adioshun/data/datasets/training/image_2/'
self.kitti_calib_dir = '/media/adioshun/data/datasets/training/calib/'
self.kitti_label_dir = '/media/adioshun/data/datasets/training/label_2/'
self.kitti_lidar_dir = '/media/adioshun/data/datasets/training/velodyne'

self.dump_dir = '../../data/'
```

## 실행

```
$ python code/scripts/init_state_dict.py -> init_state_dict.py
$ python train.py -tp1 /tmp/DenseLidarNet/lidar_pts -tp2 /tmp/DenseLidarNet/tf_lidar_pts -tp3 /tmp/DenseLidarNet/bbox_info -vp1 /tmp/DenseLidarNet/lidar_pts -vp2 /tmp/DenseLidarNet/tf_lidar_pts -vp3 /tmp/DenseLidarNet/bbox_info

$ python train.py -e
```

## 에러 처리

* [\[코드\] DenseLidarNet](https://github.com/345ishaan/DenseLidarNet)
* `train.py` 에러 수정 코드 [`Part03-Chapter02-DenseLidarNet_train.py`](https://github.com/adioshun/gitBook_Tutorial_PCL/tree/7fec30c984cf7da87229afc6238f90ba9cb2ecf9/Advanced/Part03-Chapter02-DenseLidarNet_train.py)

main.py의 `#transforms.Lambda(lambda x: logPolar_transform(x)),`를 주석 처리시 문제점 ?