Carla Dataset Tools

Data collection tools for CARLA Simulator.

All raw data generated by this tool is in right-hand coordinate.

This work is part of the CarlaFLCAV project. Feel free to give us a star -> CarlaFLCAV

Setup

pip3 install -r requirements.txt

# Write following env into your bashrc or zshrc
export CARLA_ROOT=[PATH_TO_YOUR_CARLA]
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/[YOUR_CARLA_EGG_NAME]:$CARLA_ROOT/PythonAPI/carla/

QuickStart

Data Recording

python3 data_recorder.py

All config files are under config folder.

Data Labeling

KITTI Object

python label_tools/kitti_objects_label.py -r record_2022_0119_1303

Visualization

For npy pointcloud rawdata, use util/visualize_lidar.py to visualize

# File mode
python3 utils/visualize_lidar.py --type [lidar / semantic_lidar / radar] --source raw_data/record_[date]/[uid]_[vehicle_type]/[uid]_[sensor_type].npy
# Glob mode
python3 utils/visualize_lidar.py --type [lidar / semantic_lidar / radar] --source raw_data/record_[date]/[uid]_[vehicle_type]/[uid]_[sensor_type]

TODO

• Data recorder tool
• Data labeling tool for KITTI format (object)
• YoloV5 labeling tool
• Argoverse example
• Documentation and Comments

Acknowledgement

• CARLA Ros Bridge
• CARLA_INVS

Citation

@article{FLCAV,
  title={Federated deep learning meets autonomous vehicle perception: Design and verification},
  author={Shuai Wang and Chengyang Li and Derrick Wing Kwan Ng and Yonina C. Eldar and H. Vincent Poor and Qi Hao and Chengzhong Xu},
  journal={submitted to IEEE for possible publication},
  year={2022},
  publisher={IEEE}
}