This repository contains the code we used for generating training data from the CARLA simulator in our paper Multimodal 3D Object Detection from Simulated Pretraining

Download and extract CARLA 0.8.4 from https://github.com/carla-simulator/carla/releases/tag/0.8.4
This project expects the carla folder to be inside this project i.e PythonClient/carla-data-export/carla
Install all the necessary requirements for your python environment using:

pip install -r requirements.txt

Before the data generation scripts can be run you must start a CARLA server. This can be done by running the executable in the CARLA root folder with the appropriate parameters. Running the server on windows in a small 200x200 window would for example be:

./CarlaUE4.exe -carla-server -fps=10 -windowed -ResX=200 -ResY=200

Once the server is running, data generation can be started using (remove --autopilot for manual control):

python datageneration.py --autopilot

If you have used our work, please cite our paper:

@article{brekke2019multimodal,
  title={Multimodal 3D Object Detection from Simulated Pretraining},
  author={Brekke, {\AA}smund and Vatsendvik, Fredrik and Lindseth, Frank},
  journal={arXiv preprint arXiv:1905.07754},
  year={2019}
}