44 lines
1.8 KiB
Python
44 lines
1.8 KiB
Python
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# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import carla
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import random
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from . import SyncSmokeTest
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class TestSnapshot(SyncSmokeTest):
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def test_spawn_points(self):
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self.world = self.client.reload_world()
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spawn_points = self.world.get_map().get_spawn_points()[:20]
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vehicles = self.world.get_blueprint_library().filter('vehicle.*')
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batch = [(random.choice(vehicles), t) for t in spawn_points]
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batch = [carla.command.SpawnActor(*args) for args in batch]
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response = self.client.apply_batch_sync(batch)
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self.assertFalse(any(x.error for x in response))
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ids = [x.actor_id for x in response]
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self.assertEqual(len(ids), len(spawn_points))
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self.world.tick()
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snapshot = self.world.wait_for_tick()
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self.assertTrue(snapshot == self.world.get_snapshot())
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actors = self.world.get_actors()
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self.assertTrue(all(snapshot.has_actor(x.id) for x in actors))
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for actor_id, t0 in zip(ids, spawn_points):
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actor_snapshot = snapshot.find(actor_id)
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self.assertIsNotNone(actor_snapshot)
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t1 = actor_snapshot.get_transform()
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self.assertAlmostEqual(t0.location.x, t1.location.x, places=2)
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self.assertAlmostEqual(t0.location.y, t1.location.y, places=2)
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self.assertAlmostEqual(t0.location.z, t1.location.z, places=2)
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self.assertAlmostEqual(t0.rotation.pitch, t1.rotation.pitch, places=2)
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self.assertAlmostEqual(t0.rotation.yaw, t1.rotation.yaw, places=2)
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self.assertAlmostEqual(t0.rotation.roll, t1.rotation.roll, places=2)
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