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Added RayCastRawLidar to the test script

This commit is contained in:
Daniel Santos-Oliván 2020-07-08 10:36:24 +02:00 committed by DSantosO
parent f26ae8f8ac
commit 2b606fc639
1 changed files with 21 additions and 0 deletions
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21
PythonAPI/util/raycast_sensor_testing.py
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@ -141,6 +141,22 @@ class SensorManager:
elif sensor_type == 'LiDAR':
lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast')
lidar_bp.set_attribute('range', '100')
lidar_bp.set_attribute('dropoff_general_rate', lidar_bp.get_attribute('dropoff_general_rate').recommended_values[0])
lidar_bp.set_attribute('dropoff_intensity_limit', lidar_bp.get_attribute('dropoff_intensity_limit').recommended_values[0])
lidar_bp.set_attribute('dropoff_zero_intensity', lidar_bp.get_attribute('dropoff_zero_intensity').recommended_values[0])
for key in sensor_options:
lidar_bp.set_attribute(key, sensor_options[key])
lidar = self.world.spawn_actor(lidar_bp, transform, attach_to=attached)
lidar.listen(self.save_lidar_image)
return lidar
elif sensor_type == 'LiDAR_Raw':
lidar_bp = self.world.get_blueprint_library().find('sensor.lidar.ray_cast_raw')
lidar_bp.set_attribute('range', '100')
for key in sensor_options:
lidar_bp.set_attribute(key, sensor_options[key])
@ -149,6 +165,11 @@ class SensorManager:
lidar.listen(self.save_lidar_image)
lidar_bp.set_attribute('dropoff_general_rate', "0.0")
lidar_bp.set_attribute('dropoff_intensity_limit', "1.0")
lidar_bp.set_attribute('dropoff_zero_intensity', "1.0")
return lidar
elif sensor_type == "Radar":
radar_bp = self.world.get_blueprint_library().find('sensor.other.radar')