Collect carla dataset (keypoints and 3D bboxes for cars)

Prerequisites

• Carla simulator
• python3

Usage

1 Test carla's PythonAPI

• Please change the path in file test.py to your own carla path.

python3 test.py

• If the vehicle type outputs correctly, the test passes

2 Generate traffic in Carla and capture dataset

python3 generate_traffic.py

• The captured results are automatically saved in ./data by default.

• You can change the number and position of sensors, as well as the cars' number and types by adjusting parameters and the code. The optional parameters can be found by

python3 generate_traffic.py --help

3 Generate radar measurements form label

python3 generate_radar_meas_from_label.py <data/...>

• where <data/...> is the folder generated using generate_traffic.py, and the folder should contain out_label.

Optional

• You can generate a custom trajectory using

python3 generate_custom_tracks.py

• where the spawn point and route are specified in the 70-72 lines of generate_custom_tracks.py. You can see the meaning of this points by visualizing the spaw point of the map.

python3 visulize_map.py