GTASynth: 3D synthetic data of outdoor non-urban environments

GTAVSynth is a synthetic dataset generated using Grand Theft Auto V (GTAV).

Direct URL to data: GTASynth

Type of Data

Name	Pairs	Length (km)	Loops
river_sequence	1966	6.207	1
park_sequence	1516	2.873	6
mountain_sequence	2678	6.619	1
hill_sequence	3108	12.732	7
field_sequence	3252	7.356	8
canyon_sequence	3687	8.871	1

Dataset Tools

Python

• create_360_from _velofile.py: takes as input four raw point clouds to produce the 360° view.
• create_map.py: creates a map of the environment using the processed data.
• point_cloud_player.py: reproduce the point clouds in sequence, as they were acquired.
• tools.py: contains methods to read the data in the dataset.

MATLAB

• helperPointCloudPlayer.m: the same as Point_cloud_player.py.
• helperMapPathVisualizer.m: with the path followed by the vehicle on the map.
• helperFrameLocationOnMap.m: view a single point cloud on the map.

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