Updated raycast determinism script
This commit is contained in:
Daniel Santos-Olivan
bernat
parent
2d36060e52
commit
12effc5d7d
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@ -36,27 +36,42 @@ import carla
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class Scenario():
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def __init__(self, client, world):
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def __init__(self, client, world, save_snapshots_mode=False):
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self.world = world
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self.client = client
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self.actor_list = []
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self.sensor_list = []
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self.init_timestamp = []
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self.sensor_queue = Queue()
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self.active = False
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self.prefix = ""
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def init_scene(self, prefix):
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self.prefix = prefix
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self.actor_list = []
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self.save_snapshots_mode = save_snapshots_mode
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self.snapshots = []
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self.sensor_list = []
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self.sensor_queue = Queue()
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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self.prefix = prefix
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self.actor_list = []
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self.active = True
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self.snapshots = []
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self.sensor_list = []
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self.sensor_queue = Queue()
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self.reload_world(settings, spectator_tr)
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# Init timestamp
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snapshot = self.world.get_snapshot()
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self.init_timestamp = {'frame0' : snapshot.frame, 'time0' : snapshot.timestamp.elapsed_seconds}
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def add_actor(self, actor, actor_name="Actor"):
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actor_idx = len(self.actor_list)
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name = str(actor_idx) + "_" + actor_name
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self.actor_list.append((name, actor))
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if self.save_snapshots_mode:
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self.snapshots.append(np.empty((0,11), float))
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def wait(self, frames=100):
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for _i in range(0, frames):
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self.world.tick()
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@ -64,8 +79,78 @@ class Scenario():
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for _s in self.sensor_list:
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self.sensor_queue.get(True, 1.0)
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def add_sensor(self, sensor, sensor_type):
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def clear_scene(self):
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for sensor in self.sensor_list:
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sensor[1].destroy()
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for actor in self.actor_list:
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actor.destroy()
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self.active = False
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def reload_world(self, settings = None, spectator_tr = None):
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self.client.reload_world()
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if settings is not None:
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self.world.apply_settings(settings)
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if spectator_tr is not None:
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self.reset_spectator(spectator_tr)
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def reset_spectator(self, spectator_tr):
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spectator = self.world.get_spectator()
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spectator.set_transform(spectator_tr)
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def save_snapshot(self, actor):
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snapshot = self.world.get_snapshot()
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actor_snapshot = np.array([
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float(snapshot.frame - self.init_timestamp['frame0']), \
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snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
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actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
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actor.get_location().x, actor.get_location().y, actor.get_location().z, \
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actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
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return actor_snapshot
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def save_snapshots(self):
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if not self.save_snapshots_mode:
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return
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for i in range (0, len(self.actor_list)):
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self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.actor_list[i][1])))
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def save_snapshots_to_disk(self):
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if not self.save_snapshots_mode:
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return
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for i, actor in enumerate(self.actor_list):
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np.savetxt(self.get_filename(actor[0]), self.snapshots[i])
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def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
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add_id = "" if actor_id is None else "_" + actor_id
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add_frame = "" if frame is None else ("_%04d") % frame
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return prefix + add_id + add_frame + ".out"
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def get_filename(self, actor_id=None, frame=None):
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return self.get_filename_with_prefix(self.prefix, actor_id, frame)
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def run_simulation(self, prefix, run_settings, spectator_tr, tics = 200):
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original_settings = self.world.get_settings()
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self.init_scene(prefix, run_settings, spectator_tr)
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t_start = time.perf_counter()
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for _i in range(0, tics):
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self.world.tick()
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self.save_snapshots()
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self.sensor_syncronization()
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t_end = time.perf_counter()
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self.world.apply_settings(original_settings)
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self.save_snapshots_to_disk()
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self.clear_scene()
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return t_end - t_start
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def add_sensor(self, sensor, sensor_type):
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sen_idx = len(self.sensor_list)
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if sensor_type == "LiDAR":
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name = str(sen_idx) + "_LiDAR"
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@ -79,7 +164,6 @@ class Scenario():
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self.sensor_list.append((name, sensor))
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def add_lidar_snapshot(self, lidar_data, name="LiDAR"):
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if not self.active:
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return
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@ -88,10 +172,7 @@ class Scenario():
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points = np.reshape(points, (int(points.shape[0] / 4), 4))
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frame = lidar_data.frame - self.init_timestamp['frame0']
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time_f = lidar_data.timestamp - self.init_timestamp['time0']
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np.savetxt(self.get_filename(name, frame), points)
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self.sensor_queue.put((lidar_data.frame, name))
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def add_semlidar_snapshot(self, lidar_data, name="SemLiDAR"):
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@ -101,14 +182,10 @@ class Scenario():
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data = np.frombuffer(lidar_data.raw_data, dtype=np.dtype([
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('x', np.float32), ('y', np.float32), ('z', np.float32),
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('CosAngle', np.float32), ('ObjIdx', np.uint32), ('ObjTag', np.uint32)]))
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points = np.array([data['x'], data['y'], data['z'], data['CosAngle'], data['ObjTag']]).T
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frame = lidar_data.frame - self.init_timestamp['frame0']
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time_f = lidar_data.timestamp - self.init_timestamp['time0']
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np.savetxt(self.get_filename(name, frame), points)
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self.sensor_queue.put((lidar_data.frame, name))
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def add_radar_snapshot(self, radar_data, name="Radar"):
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@ -119,66 +196,35 @@ class Scenario():
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points = np.reshape(points, (int(points.shape[0] / 4), 4))
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frame = radar_data.frame - self.init_timestamp['frame0']
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time_f = radar_data.timestamp - self.init_timestamp['time0']
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np.savetxt(self.get_filename(name, frame), points)
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self.sensor_queue.put((radar_data.frame, name))
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def clear_scene(self):
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def sensor_syncronization(self):
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# Sensor Syncronization
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w_frame = self.world.get_snapshot().frame
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for sensor in self.sensor_list:
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sensor[1].destroy()
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for actor in self.actor_list:
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actor.destroy()
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self.active = False
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def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
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add_id = "" if actor_id is None else "_" + actor_id
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add_frame = "" if frame is None else ("_%04d") % frame
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return prefix + add_id + add_frame + ".out"
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def get_filename(self, actor_id=None, frame=None):
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return self.get_filename_with_prefix(self.prefix, actor_id, frame)
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def run_simulation(self, prefix, tics = 200):
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self.init_scene(prefix)
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for _i in range(0, tics):
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self.world.tick()
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w_frame = self.world.get_snapshot().frame
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for s in self.sensor_list:
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s_frame = self.sensor_queue.get(True, 1.0)[0]
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if w_frame != s_frame:
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print("Error!!! frames are not equal for %d: %d %d" % (s[0], w_frame, s_frame))
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self.clear_scene()
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s_frame = self.sensor_queue.get(True, 1.0)[0]
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if w_frame != s_frame:
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print("Error!!! frames are not equal for %s: %d %d" % (sensor[0], w_frame, s_frame))
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class SpawnLidarNoDropff(Scenario):
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def init_scene(self, prefix):
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super().init_scene(prefix)
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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world = self.world
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -205, 0.1), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar_bp.set_attribute('channels', '64')
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lidar_bp.set_attribute('points_per_second', '200000')
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lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar_bp.set_attribute('dropoff_general_rate', '0.0')
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lidar_bp.set_attribute('noise_seed', '43233')
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lidar_tr = carla.Transform(carla.Location(z=2))
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lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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self.add_sensor(lidar, "LiDAR")
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self.actor_list.append(vehicle00)
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@ -186,24 +232,20 @@ class SpawnLidarNoDropff(Scenario):
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self.wait(1)
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class SpawnSemanticLidar(Scenario):
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def init_scene(self, prefix):
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super().init_scene(prefix)
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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world = self.world
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -205, 0.1), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
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lidar_bp.set_attribute('channels', '64')
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lidar_bp.set_attribute('points_per_second', '200000')
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lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
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lidar_tr = carla.Transform(carla.Location(z=2))
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lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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self.add_sensor(lidar, "SemLiDAR")
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self.actor_list.append(vehicle00)
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@ -211,24 +253,21 @@ class SpawnSemanticLidar(Scenario):
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self.wait(1)
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class SpawnRadar(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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def init_scene(self, prefix):
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super().init_scene(prefix)
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world = self.world
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -205, 0.1), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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radar_bp = world.get_blueprint_library().find('sensor.other.radar')
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radar_bp = self.world.get_blueprint_library().find('sensor.other.radar')
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radar_bp.set_attribute('noise_seed', '54283')
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radar_tr = carla.Transform(carla.Location(z=2))
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radar = world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00)
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radar = self.world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00)
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self.add_sensor(radar, "Radar")
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self.actor_list.append(vehicle00)
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@ -236,25 +275,22 @@ class SpawnRadar(Scenario):
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self.wait(1)
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class SpawnLidarWithDropff(Scenario):
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def init_scene(self, prefix):
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super().init_scene(prefix)
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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world = self.world
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -205, 0.1), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar_bp.set_attribute('channels', '64')
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lidar_bp.set_attribute('points_per_second', '200000')
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lidar_bp.set_attribute('noise_seed', '249013')
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lidar_tr = carla.Transform(carla.Location(z=2))
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lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
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self.add_sensor(lidar, "LiDAR")
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self.actor_list.append(vehicle00)
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@ -262,40 +298,37 @@ class SpawnLidarWithDropff(Scenario):
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self.wait(1)
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class SpawnAllRaycastSensors(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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def init_scene(self, prefix):
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super().init_scene(prefix)
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world = self.world
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -205, 0.1), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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vehicle01_tr = carla.Transform(carla.Location(50, -200, 0.1), carla.Rotation(yaw=-178.5))
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vehicle01 = world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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vehicle01.set_target_velocity(carla.Vector3D(+25, 0, 0))
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vehicle01_tr = carla.Transform(carla.Location(50, -200, 0.1), carla.Rotation(yaw=1.5))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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vehicle01.set_target_velocity(carla.Vector3D(25, 0, 0))
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radar_bp = world.get_blueprint_library().find('sensor.other.radar')
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radar_bp = self.world.get_blueprint_library().find('sensor.other.radar')
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radar_bp.set_attribute('noise_seed', '54283')
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radar_tr = carla.Transform(carla.Location(z=2))
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radar = world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00)
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radar = self.world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00)
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lidar01_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar01_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar01_bp.set_attribute('noise_seed', '12134')
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lidar01_tr = carla.Transform(carla.Location(x=1, z=2))
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lidar01 = world.spawn_actor(lidar01_bp, lidar01_tr, attach_to=vehicle00)
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lidar01 = self.world.spawn_actor(lidar01_bp, lidar01_tr, attach_to=vehicle00)
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lidar02_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
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lidar02_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
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lidar02_tr = carla.Transform(carla.Location(x=1, z=2))
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lidar02 = world.spawn_actor(lidar02_bp, lidar02_tr, attach_to=vehicle01)
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lidar02 = self.world.spawn_actor(lidar02_bp, lidar02_tr, attach_to=vehicle01)
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lidar03_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar03_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
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lidar03_bp.set_attribute('noise_seed', '23135')
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lidar03_tr = carla.Transform(carla.Location(z=2))
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lidar03 = world.spawn_actor(lidar03_bp, lidar03_tr, attach_to=vehicle01)
|
||||
lidar03 = self.world.spawn_actor(lidar03_bp, lidar03_tr, attach_to=vehicle01)
|
||||
|
||||
self.add_sensor(radar, "Radar")
|
||||
self.add_sensor(lidar01, "LiDAR")
|
||||
|
|
@ -306,7 +339,7 @@ class SpawnAllRaycastSensors(Scenario):
|
|||
|
||||
self.wait(1)
|
||||
|
||||
class TestScenario():
|
||||
class TestSensorScenario():
|
||||
def __init__(self, scene, output_path):
|
||||
self.scene = scene
|
||||
self.world = self.scene.world
|
||||
|
|
@ -363,44 +396,41 @@ class TestScenario():
|
|||
return determinism_set
|
||||
|
||||
def test_scenario(self, repetitions = 1, sim_tics = 100):
|
||||
print("Testing Determinism in %s -> " % \
|
||||
(self.scenario_name), end='')
|
||||
|
||||
settings = self.world.get_settings()
|
||||
settings.synchronous_mode = True
|
||||
settings.fixed_delta_seconds = 0.05
|
||||
self.world.apply_settings(settings)
|
||||
output_str = "Testing Determinism in %s -> " % (self.scenario_name)
|
||||
|
||||
prefix = self.output_path + self.scenario_name
|
||||
|
||||
t_start = time.perf_counter()
|
||||
config_settings = self.world.get_settings()
|
||||
config_settings.synchronous_mode = True
|
||||
config_settings.fixed_delta_seconds = 0.05
|
||||
|
||||
spectator_tr = carla.Transform(carla.Location(160, -205, 10), carla.Rotation(yaw=180))
|
||||
|
||||
sim_prefixes = []
|
||||
t_comp = 0
|
||||
for i in range(0, repetitions):
|
||||
prefix_rep = prefix + "_rep_" + ("%03d" % i)
|
||||
self.scene.run_simulation(prefix_rep, tics=sim_tics)
|
||||
t_comp += self.scene.run_simulation(prefix_rep, config_settings, spectator_tr, tics=sim_tics)
|
||||
sim_prefixes.append(prefix_rep)
|
||||
|
||||
t_end = time.perf_counter()
|
||||
|
||||
determ_repet = self.check_simulations(sim_prefixes, sim_tics)
|
||||
print("Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions), end="")
|
||||
print(" -> Comp. FPS: %.0f" % ((repetitions*sim_tics)/(t_end-t_start)))
|
||||
return
|
||||
output_str += "Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions)
|
||||
output_str += " -> Comp. FPS: %.0f" % ((repetitions*sim_tics)/t_comp)
|
||||
|
||||
if determ_repet == repetitions:
|
||||
print("Error!!! Scenario %s is not deterministic: %d / %d" % (self.scenario_name, determ_repet, repetitions))
|
||||
|
||||
return output_str
|
||||
|
||||
|
||||
def main(arg):
|
||||
"""Main function of the script"""
|
||||
client = carla.Client(arg.host, arg.port)
|
||||
client.set_timeout(2.0)
|
||||
client.set_timeout(5.0)
|
||||
world = client.get_world()
|
||||
pre_settings = world.get_settings()
|
||||
world.apply_settings(pre_settings)
|
||||
|
||||
spectator_transform = carla.Transform(carla.Location(160, -205, 5), carla.Rotation(yaw=180))
|
||||
spectator_transform.location.z += 5
|
||||
spectator = world.get_spectator()
|
||||
spectator.set_transform(spectator_transform)
|
||||
|
||||
try:
|
||||
# Setting output temporal folder
|
||||
output_path = os.path.dirname(os.path.realpath(__file__))
|
||||
|
|
@ -408,27 +438,19 @@ def main(arg):
|
|||
if not os.path.exists(output_path):
|
||||
os.mkdir(output_path)
|
||||
|
||||
test_list = [
|
||||
TestSensorScenario(SpawnAllRaycastSensors(client, world), output_path),
|
||||
TestSensorScenario(SpawnLidarNoDropff(client, world), output_path),
|
||||
TestSensorScenario(SpawnLidarWithDropff(client, world), output_path),
|
||||
TestSensorScenario(SpawnSemanticLidar(client, world), output_path),
|
||||
TestSensorScenario(SpawnRadar(client, world), output_path)
|
||||
]
|
||||
|
||||
repetitions = 10
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test_all = TestScenario(SpawnAllRaycastSensors(client, world), output_path)
|
||||
test_all.test_scenario(repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test_lidar_1 = TestScenario(SpawnLidarNoDropff(client, world), output_path)
|
||||
test_lidar_1.test_scenario(repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test_lidar_2 = TestScenario(SpawnLidarWithDropff(client, world), output_path)
|
||||
test_lidar_2.test_scenario(repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test_semlidar = TestScenario(SpawnSemanticLidar(client, world), output_path)
|
||||
test_semlidar.test_scenario(repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test_radar = TestScenario(SpawnRadar(client, world), output_path)
|
||||
test_radar.test_scenario(repetitions)
|
||||
for item in test_list:
|
||||
print("--------------------------------------------------------------")
|
||||
out = item.test_scenario(repetitions)
|
||||
print(out)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue