{"id":46274352,"url":"https://github.com/kevinladlee/carla_dataset_tools","last_synced_at":"2026-03-04T04:02:36.803Z","repository":{"id":40416478,"uuid":"426640083","full_name":"KevinLADLee/carla_dataset_tools","owner":"KevinLADLee","description":"Tools for dataset generation based on CARLA simulator. (Data Collector)","archived":false,"fork":false,"pushed_at":"2026-01-13T10:23:27.000Z","size":3551,"stargazers_count":135,"open_issues_count":1,"forks_count":26,"subscribers_count":4,"default_branch":"dev","last_synced_at":"2026-01-14T17:01:46.351Z","etag":null,"topics":["autonomous-vehicles","carla","datasets","driving-cars","simulation"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KevinLADLee.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2021-11-10T13:51:25.000Z","updated_at":"2026-01-13T10:23:31.000Z","dependencies_parsed_at":"2023-01-29T19:46:04.611Z","dependency_job_id":null,"html_url":"https://github.com/KevinLADLee/carla_dataset_tools","commit_stats":null,"previous_names":[],"tags_count":3,"template":false,"template_full_name":null,"purl":"pkg:github/KevinLADLee/carla_dataset_tools","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KevinLADLee%2Fcarla_dataset_tools","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KevinLADLee%2Fcarla_dataset_tools/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KevinLADLee%2Fcarla_dataset_tools/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KevinLADLee%2Fcarla_dataset_tools/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KevinLADLee","download_url":"https://codeload.github.com/KevinLADLee/carla_dataset_tools/tar.gz/refs/heads/dev","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KevinLADLee%2Fcarla_dataset_tools/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30071670,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-04T03:25:38.285Z","status":"ssl_error","status_checked_at":"2026-03-04T03:25:05.086Z","response_time":59,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autonomous-vehicles","carla","datasets","driving-cars","simulation"],"created_at":"2026-03-04T04:02:29.850Z","updated_at":"2026-03-04T04:02:36.795Z","avatar_url":"https://github.com/KevinLADLee.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# 🚗 CARLA Dataset Tools\n\n[![Python](https://img.shields.io/badge/Python-3.8%2B-blue.svg)](https://www.python.org/)\n[![CARLA](https://img.shields.io/badge/CARLA-0.9.16-orange.svg)](https://carla.org/)\n[![License](https://img.shields.io/badge/License-GPL%203.0-blue.svg)](LICENSE)\n\n\u003e 📦 A comprehensive data collection and labeling toolkit for CARLA Simulator\n\nData collection and labeling tools for [CARLA Simulator](https://carla.org/). This toolkit provides an efficient pipeline for generating high-quality autonomous driving datasets with support for multiple sensor types and standard dataset formats.\n\n**⚠️ Important**: All raw data generated by this tool uses a **right-hand coordinate system**.\n\n🌟 This work is part of the [**CarlaFLCAV**](https://github.com/SIAT-INVS/CarlaFLCAV) project. Feel free to give us a star!\n\n---\n\n## ✨ Key Features\n\n- ✅ **Multi-Sensor Support**: RGB Camera, Semantic Segmentation, LiDAR, Semantic LiDAR, Radar, IMU, GNSS\n- ✅ **V2X Communication**: Vehicle-to-Everything (V2X) sensor support for V2V and V2I scenarios\n  - V2X CAM sensors (ETSI standard) for automatic message generation\n  - V2X Custom sensors for manual message broadcasting\n  - Realistic wireless channel modeling with path loss simulation\n- ✅ **Infrastructure Support**: Roadside unit (RSU) simulation for V2X scenarios\n  - Static infrastructure actors with sensor attachment\n  - One-way message broadcasting from infrastructure to vehicles\n  - Support for V2I (Vehicle-to-Infrastructure) communication\n- ✅ **Multiple Dataset Formats**: KITTI Object, YOLOv5, Argoverse\n- ✅ **Flexible Configuration**: YAML-based configuration with validation\n- ✅ **Route Editor**: Interactive tool for creating custom vehicle routes with topology-aware path planning\n- ✅ **BEV Map Capture**: Tool for generating bird's-eye view maps of entire CARLA maps\n- ✅ **Synchronized Recording**: Synchronized multi-vehicle and multi-sensor data collection\n- ✅ **Visualization Tools**: Built-in point cloud and data visualization utilities\n- ✅ **Autopilot Integration**: Automatic vehicle control using CARLA's traffic manager\n\n---\n\n## 🚀 30-Second Quick Start\n\n```bash\n# 1. Clone and install\ngit clone https://github.com/KevinLADLee/carla_dataset_tools.git\ncd carla_dataset_tools\npip3 install -r requirements.txt\n\n# 2. Set environment variable\nexport CARLA_ROOT=/path/to/your/carla\n\n# 3. Start CARLA\ncd $CARLA_ROOT \u0026\u0026 ./CarlaUE4.sh\n\n# 4. Record data (in a new terminal)\ncd carla_dataset_tools\npython3 data_recorder.py --profile kitti\n\n# 5. Generate labels \npython3 label_tools/kitti_objects_label.py -r record_YYYY_MMDD_HHMM -v vehicle_1st\n\n# 6. Visulize output dataset\npython3 tools/viz_lidar.py --type kitti --source dataset/record_YYYY_MMDD_HHMM/vehicle_1st/kitti_object/training/velodyne\n\n```\n\n---\n\n## 📚 Documentation\n\n### For Users\n\n**[User Guide](docs/USER_GUIDE.md)** - Complete installation and usage guide\n\n- Installation and prerequisites\n- Recording data with different profiles\n- **Route Editor** - Create custom vehicle routes interactively\n- Generating labels (KITTI, YOLOv5, Argoverse)\n- Data visualization\n- Troubleshooting\n\n**[中文用户指南](docs/USER_GUIDE_CN.md)** - 完整的安装和使用指南\n\n### For Developers\n\n**[Developer Guide](docs/DEVELOPER.md)** - Technical documentation for developers\n\n- Architecture overview\n- Configuration system details (maps, weather, sensors)\n- API reference\n- Extending the toolkit\n- Development workflow\n\n**[中文开发者指南](docs/DEVELOPER_CN.md)** - 开发者技术文档\n\n---\n\n## ⚙️ Configuration Profiles\n\nPre-configured profiles for different dataset styles:\n\n- **`default`** - General purpose with multiple vehicles and sensors\n- **`kitti`** - KITTI-style (Velodyne HDL-64E, standard cameras)\n- **`argoverse`** - Argoverse-style with ring cameras\n- **`simple`** - Minimal configuration for testing\n- **`route_example`** - Demonstrates vehicle route following feature\n- **`v2x_test`** - V2X communication testing (V2V and V2I scenarios)\n- **`bev`** - Bird's-eye view camera configuration for map capture\n\n```bash\n# List available profiles\npython3 tools/config_list.py\n\n# Use a profile\npython3 data_recorder.py --profile kitti\n\n# Create custom vehicle routes\npython3 tools/editor_route.py --map Town02 --name my_route\n\n# Capture BEV map of entire CARLA map\npython3 tools/capture_map_bev.py --map Town02 --output ./bev_output\n\n# Validate a configuration\npython3 tools/config_validate.py --profile kitti\n```\n\nSee [Developer Guide](docs/DEVELOPER.md) for complete configuration reference.\n\n---\n\n## 📊 Supported Dataset Formats\n\n- **KITTI Object Detection** - 3D bounding boxes with calibration\n- **YOLOv5** - 2D bounding box annotations\n- **Argoverse** - Ring camera setup (experimental)\n\n---\n\n## 🔧 Prerequisites\n\n- **CARLA Simulator** \u003e= 0.9.16\n- **Python** \u003e= 3.8\n- **Operating System**: Linux (recommended) / Windows\n\n\u003e Download CARLA: [https://github.com/carla-simulator/carla/releases](https://github.com/carla-simulator/carla/releases)\n\n---\n\n## 📁 Project Structure\n\n```\ncarla_dataset_tools/\n├── config/                      # Configuration management\n│   ├── config_manager.py        # YAML config loader and validator\n│   └── profiles/                # Pre-configured profiles (default, kitti, argoverse, simple, route_example)\n├── docs/                        # Documentation\n│   ├── USER_GUIDE.md            # User guide (English)\n│   ├── USER_GUIDE_CN.md         # User guide (Chinese)\n│   ├── DEVELOPER.md             # Developer guide (English)\n│   └── DEVELOPER_CN.md          # Developer guide (Chinese)\n├── label_tools/                 # Labeling scripts (KITTI, YOLO, Argoverse)\n├── recorder/                    # Core recording modules\n├── routes/                      # Vehicle route definitions (YAML + PKL)\n├── core/                        # Core shared modules (geometry, transform, logger)\n├── tools/                       # CLI utility scripts\n│   ├── editor_route.py          # Route editor\n│   ├── capture_map_bev.py       # BEV map capture tool\n│   ├── viz_lidar.py             # LiDAR visualization\n│   └── ...                      # Other utilities\n└── data_recorder.py             # Main recording script\n```\n\n---\n\n## 🤝 Contributing\n\nContributions are welcome! Areas for contribution:\n\n- Additional dataset format support (nuScenes, Waymo, etc.)\n- Enhanced documentation and examples\n- Bug fixes and performance improvements\n- New sensor types or features\n\nPlease submit pull requests to the main repository.\n\n---\n\n## 📖 Citation\n\nIf you use this tool in your research, please cite:\n\n```bibtex\n@article{wang2022federated,\n  title={Federated deep learning meets autonomous vehicle perception: Design and verification},\n  author={Wang, Shuai and Li, Chengyang and Ng, Derrick Wing Kwan and Eldar, Yonina C and Poor, H Vincent and Hao, Qi and Xu, Chengzhong},\n  journal={IEEE network},\n  volume={37},\n  number={3},\n  pages={16--25},\n  year={2022},\n  publisher={IEEE}\n}\n```\n\n---\n\n## 🙏 Acknowledgements\n\nThis project builds upon:\n\n- [**CARLA Simulator**](https://carla.org/) - Open-source autonomous driving simulator\n- [**CARLA ROS Bridge**](https://github.com/carla-simulator/ros-bridge) - ROS integration for CARLA\n- [**CARLA_INVS**](https://github.com/zijianzhang/CARLA_INVS) - Infrastructure and vehicle simulation\n\n---\n\n## 📄 License\n\nThis project is licensed under the GNU General Public License v3.0 - see the [LICENSE](LICENSE) file for details.\n\n---\n\n## 📮 Contact \u0026 Support\n\n- **Issues**: [GitHub Issues](https://github.com/KevinLADLee/carla_dataset_tools/issues)\n- **Project**: [CarlaFLCAV](https://github.com/SIAT-INVS/CarlaFLCAV)\n- **Documentation**: [User Guide](docs/USER_GUIDE.md) | [Developer Guide](docs/DEVELOPER.md)\n\n---\n\n\u003cdiv align=\"center\"\u003e\n\n**⭐ If this project helps your research, please give us a star! ⭐**\n\n[🏠 Home](https://github.com/KevinLADLee/carla_dataset_tools) • [📖 User Guide](docs/USER_GUIDE.md) • [🔧 Developer Guide](docs/DEVELOPER.md) • [🐛 Report Bug](https://github.com/KevinLADLee/carla_dataset_tools/issues)\n\n\u003c/div\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinladlee%2Fcarla_dataset_tools","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkevinladlee%2Fcarla_dataset_tools","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinladlee%2Fcarla_dataset_tools/lists"}