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updated LIDAR setup to reflect a real Velodyne 32

This commit is contained in:
German Ros 2019-02-28 15:51:46 -08:00
parent 0e019f5fb1
commit 0c8d38adf1
1 changed files with 7 additions and 1 deletions
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8
PythonAPI/performance_benchmark.py
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@ -121,7 +121,13 @@ def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.lidar'):
bp.set_attribute('range', '5000')
bp.set_attribute('range', '200')
bp.set_attribute('rotation_frequency', '10')
bp.set_attribute('channels', '32')
bp.set_attribute('upper_fov', '15')
bp.set_attribute('lower_fov', '-30')
bp.set_attribute('points_per_second', '500000')
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.gnss'):