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https://github.com/kevinladlee/carla_dataset_tools

Tools for dataset generation based on CARLA simulator. (Data Collector)
https://github.com/kevinladlee/carla_dataset_tools

autonomous-vehicles carla datasets driving-cars simulation

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Tools for dataset generation based on CARLA simulator. (Data Collector)

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README 

          
# 🚗 CARLA Dataset Tools



[![Python](https://img.shields.io/badge/Python-3.8%2B-blue.svg)](https://www.python.org/)

[![CARLA](https://img.shields.io/badge/CARLA-0.9.16-orange.svg)](https://carla.org/)

[![License](https://img.shields.io/badge/License-GPL%203.0-blue.svg)](LICENSE)



> 📦 A comprehensive data collection and labeling toolkit for CARLA Simulator



Data 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.



**⚠️ Important**: All raw data generated by this tool uses a **right-hand coordinate system**.



🌟 This work is part of the [**CarlaFLCAV**](https://github.com/SIAT-INVS/CarlaFLCAV) project. Feel free to give us a star!



---



## ✨ Key Features



- ✅ **Multi-Sensor Support**: RGB Camera, Semantic Segmentation, LiDAR, Semantic LiDAR, Radar, IMU, GNSS

- ✅ **V2X Communication**: Vehicle-to-Everything (V2X) sensor support for V2V and V2I scenarios

  - V2X CAM sensors (ETSI standard) for automatic message generation

  - V2X Custom sensors for manual message broadcasting

  - Realistic wireless channel modeling with path loss simulation

- ✅ **Infrastructure Support**: Roadside unit (RSU) simulation for V2X scenarios

  - Static infrastructure actors with sensor attachment

  - One-way message broadcasting from infrastructure to vehicles

  - Support for V2I (Vehicle-to-Infrastructure) communication

- ✅ **Multiple Dataset Formats**: KITTI Object, YOLOv5, Argoverse

- ✅ **Flexible Configuration**: YAML-based configuration with validation

- ✅ **Route Editor**: Interactive tool for creating custom vehicle routes with topology-aware path planning

- ✅ **BEV Map Capture**: Tool for generating bird's-eye view maps of entire CARLA maps

- ✅ **Synchronized Recording**: Synchronized multi-vehicle and multi-sensor data collection

- ✅ **Visualization Tools**: Built-in point cloud and data visualization utilities

- ✅ **Autopilot Integration**: Automatic vehicle control using CARLA's traffic manager



---



## 🚀 30-Second Quick Start



```bash

# 1. Clone and install

git clone https://github.com/KevinLADLee/carla_dataset_tools.git

cd carla_dataset_tools

pip3 install -r requirements.txt



# 2. Set environment variable

export CARLA_ROOT=/path/to/your/carla



# 3. Start CARLA

cd $CARLA_ROOT && ./CarlaUE4.sh



# 4. Record data (in a new terminal)

cd carla_dataset_tools

python3 data_recorder.py --profile kitti



# 5. Generate labels 

python3 label_tools/kitti_objects_label.py -r record_YYYY_MMDD_HHMM -v vehicle_1st



# 6. Visulize output dataset

python3 tools/viz_lidar.py --type kitti --source dataset/record_YYYY_MMDD_HHMM/vehicle_1st/kitti_object/training/velodyne



```



---



## 📚 Documentation



### For Users



**[User Guide](docs/USER_GUIDE.md)** - Complete installation and usage guide



- Installation and prerequisites

- Recording data with different profiles

- **Route Editor** - Create custom vehicle routes interactively

- Generating labels (KITTI, YOLOv5, Argoverse)

- Data visualization

- Troubleshooting



**[中文用户指南](docs/USER_GUIDE_CN.md)** - 完整的安装和使用指南



### For Developers



**[Developer Guide](docs/DEVELOPER.md)** - Technical documentation for developers



- Architecture overview

- Configuration system details (maps, weather, sensors)

- API reference

- Extending the toolkit

- Development workflow



**[中文开发者指南](docs/DEVELOPER_CN.md)** - 开发者技术文档



---



## ⚙️ Configuration Profiles



Pre-configured profiles for different dataset styles:



- **`default`** - General purpose with multiple vehicles and sensors

- **`kitti`** - KITTI-style (Velodyne HDL-64E, standard cameras)

- **`argoverse`** - Argoverse-style with ring cameras

- **`simple`** - Minimal configuration for testing

- **`route_example`** - Demonstrates vehicle route following feature

- **`v2x_test`** - V2X communication testing (V2V and V2I scenarios)

- **`bev`** - Bird's-eye view camera configuration for map capture



```bash

# List available profiles

python3 tools/config_list.py



# Use a profile

python3 data_recorder.py --profile kitti



# Create custom vehicle routes

python3 tools/editor_route.py --map Town02 --name my_route



# Capture BEV map of entire CARLA map

python3 tools/capture_map_bev.py --map Town02 --output ./bev_output



# Validate a configuration

python3 tools/config_validate.py --profile kitti

```



See [Developer Guide](docs/DEVELOPER.md) for complete configuration reference.



---



## 📊 Supported Dataset Formats



- **KITTI Object Detection** - 3D bounding boxes with calibration

- **YOLOv5** - 2D bounding box annotations

- **Argoverse** - Ring camera setup (experimental)



---



## 🔧 Prerequisites



- **CARLA Simulator** >= 0.9.16

- **Python** >= 3.8

- **Operating System**: Linux (recommended) / Windows



> Download CARLA: [https://github.com/carla-simulator/carla/releases](https://github.com/carla-simulator/carla/releases)



---



## 📁 Project Structure



```

carla_dataset_tools/

├── config/                      # Configuration management

│   ├── config_manager.py        # YAML config loader and validator

│   └── profiles/                # Pre-configured profiles (default, kitti, argoverse, simple, route_example)

├── docs/                        # Documentation

│   ├── USER_GUIDE.md            # User guide (English)

│   ├── USER_GUIDE_CN.md         # User guide (Chinese)

│   ├── DEVELOPER.md             # Developer guide (English)

│   └── DEVELOPER_CN.md          # Developer guide (Chinese)

├── label_tools/                 # Labeling scripts (KITTI, YOLO, Argoverse)

├── recorder/                    # Core recording modules

├── routes/                      # Vehicle route definitions (YAML + PKL)

├── core/                        # Core shared modules (geometry, transform, logger)

├── tools/                       # CLI utility scripts

│   ├── editor_route.py          # Route editor

│   ├── capture_map_bev.py       # BEV map capture tool

│   ├── viz_lidar.py             # LiDAR visualization

│   └── ...                      # Other utilities

└── data_recorder.py             # Main recording script

```



---



## 🤝 Contributing



Contributions are welcome! Areas for contribution:



- Additional dataset format support (nuScenes, Waymo, etc.)

- Enhanced documentation and examples

- Bug fixes and performance improvements

- New sensor types or features



Please submit pull requests to the main repository.



---



## 📖 Citation



If you use this tool in your research, please cite:



```bibtex

@article{wang2022federated,

  title={Federated deep learning meets autonomous vehicle perception: Design and verification},

  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},

  journal={IEEE network},

  volume={37},

  number={3},

  pages={16--25},

  year={2022},

  publisher={IEEE}

}

```



---



## 🙏 Acknowledgements



This project builds upon:



- [**CARLA Simulator**](https://carla.org/) - Open-source autonomous driving simulator

- [**CARLA ROS Bridge**](https://github.com/carla-simulator/ros-bridge) - ROS integration for CARLA

- [**CARLA_INVS**](https://github.com/zijianzhang/CARLA_INVS) - Infrastructure and vehicle simulation



---



## 📄 License



This project is licensed under the GNU General Public License v3.0 - see the [LICENSE](LICENSE) file for details.



---



## 📮 Contact & Support



- **Issues**: [GitHub Issues](https://github.com/KevinLADLee/carla_dataset_tools/issues)

- **Project**: [CarlaFLCAV](https://github.com/SIAT-INVS/CarlaFLCAV)

- **Documentation**: [User Guide](docs/USER_GUIDE.md) | [Developer Guide](docs/DEVELOPER.md)



---






**⭐ If this project helps your research, please give us a star! ⭐**



[🏠 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)