Carla Training Data

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

KITTI dataset format

An example of KITTI dataset format

• 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:

• KITTI Vision Benchmark Suite
  KITTI website
• Karlsruhe Institute of Technology
  Karlsruhe Institute of Technology website
• Toyota Technological Institute at Chicago
  Toyota Technological Institute website