Carla Training Data

May 21, 2019 ยท View on GitHub

Generating training data from the Carla driving simulator in the KITTI dataset format

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KITTI dataset format

An example of KITTI dataset format

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  • Raw (unsynced+unrectified) and processed (synced+rectified) grayscale stereo sequences (0.5 Megapixels, stored in png format)
  • Raw (unsynced+unrectified) and processed (synced+rectified) color stereo sequences (0.5 Megapixels, stored in png format)
  • 3D Velodyne point clouds (100k points per frame, stored as binary float matrix)
  • 3D GPS/IMU data (location, speed, acceleration, meta information, stored as text file)
  • Calibration (Camera, Camera-to-GPS/IMU, Camera-to-Velodyne, stored as text file)
  • 3D object tracklet labels (cars, trucks, trams, pedestrians, cyclists, stored as xml file)

Getting started and Setup

This project expects the carla folder to be inside this project i.e PythonClient/carla-training-data/carla

Running the client after running the Carla Server

## Running the client after running the Carla Server

$ python3 datageneration.py

References: