shin0412/nuCarla_7_Cam

nuCarla 7-camera FOV30 extension

This repository adds a synchronized seventh camera to the six-camera nuCarla dataset. The new camera is CAM_FRONT_NARROW: a co-located 30-degree forward view derived from the original CAM_FRONT frame by a calibrated center crop and resize. This preserves the original scene, timestamp, objects, and six camera images.

Contents

• 28,000 training samples and 6,000 validation samples.
• 34,000 CAM_FRONT_NARROW JPEG images at 1600 x 900, distributed in 1,000-image TAR shards.
• StreamPETR temporal info files containing all seven calibrated cameras.
• Build lineage and validation reports.

Camera order:

CAM_FRONT
CAM_FRONT_NARROW
CAM_FRONT_RIGHT
CAM_FRONT_LEFT
CAM_BACK
CAM_BACK_LEFT
CAM_BACK_RIGHT

Required six-camera source

The six unchanged camera images are not duplicated in this extension. Extract the upstream nuCarla dataset so they are available below data/nucarla_full/samples, then place this repository at data/nucarla_full_7cam_fov30. The paths stored in the temporal info files will then resolve without rewriting.

After downloading this repository, extract its narrow-camera shards from the repository root:

for shard in image_shards/*.tar; do tar -xf "$shard"; done

This creates samples/CAM_FRONT_NARROW with the original 34,000 files and paths expected by the temporal info files.

The narrow-camera images are synchronized derivatives of the original frames; no independently rendered CARLA frame from another timestamp is inserted into the historical dataset.

Validation

validation_report.json verifies all 34,000 samples, camera ordering, intrinsics/extrinsics, 30-degree horizontal FOV, source hashes, image uniqueness, and transformed annotations.

The matching seven-camera StreamPETR checkpoint is published in shin0412/StreamPETR_nuCarla.