/Capda_Carla

capture data for multiple sensors on Carla platform

Primary LanguagePythonMIT LicenseMIT

Code for Capturing multiple sensor data on Carla platform

We provide an example code to capture data for multiple sensors in synchronous mode on Carla platform.

CARLA is an open-source autonomous driving simulator. The simulation platform supports flexible specification of sensor suites, environmental conditions, full control of all static and dynamic actors, maps generation and much more.

Features

  • route than can be adjusted
  • synchronous mode
  • lidar, camera, gnss and IMU
  • save the data to the disk
  • display mode
  • follow ego vehicle in bird's-eye view
  • ignore the traffic lights

Testing system

  • Intel i7 gen 9th
  • 16 GB RAM memory
  • NVIDIA RTX 2080Ti
  • Ubuntu 20.04

Dependencies

  1. CarlaUE 4.26
  2. Carla simulator 0.9.12
  3. Numpy
  4. OpenCV
  5. matplotlib
  6. Pillow

Run

  • fixed route, you can change the route in the route file (e.g.Route_Town07.txt)
python3 route_capture_multiple_sensors.py --fix_route
  • random route
python3 route_capture_multiple_sensors.py
  • random roam on the map
python3 capture_multiple_sensors.py