From 3663d6f79f1a0a7ca6a9ae8c6f2f60a77e0eadc6 Mon Sep 17 00:00:00 2001 From: Daniel Santos-Olivan Date: Thu, 5 Nov 2020 14:49:08 +0100 Subject: [PATCH] Add noise seeds to the determinism script --- PythonAPI/util/check_raycast_sensors_determinism.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/PythonAPI/util/check_raycast_sensors_determinism.py b/PythonAPI/util/check_raycast_sensors_determinism.py index 25d07aac8..5be68114e 100644 --- a/PythonAPI/util/check_raycast_sensors_determinism.py +++ b/PythonAPI/util/check_raycast_sensors_determinism.py @@ -150,6 +150,7 @@ class SpawnLidarNoDropff(Scenario): lidar_bp.set_attribute('channels', '64') lidar_bp.set_attribute('points_per_second', '200000') lidar_bp.set_attribute('dropoff_general_rate', '0.0') + lidar_bp.set_attribute('noise_seed', '43233') lidar_tr = carla.Transform(carla.Location(z=2)) lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00) @@ -203,6 +204,7 @@ class SpawnRadar(Scenario): vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0)) radar_bp = world.get_blueprint_library().find('sensor.other.radar') + radar_bp.set_attribute('noise_seed', '54283') radar_tr = carla.Transform(carla.Location(z=2)) radar = world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00) @@ -230,6 +232,7 @@ class SpawnLidarWithDropff(Scenario): lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast') lidar_bp.set_attribute('channels', '64') lidar_bp.set_attribute('points_per_second', '200000') + lidar_bp.set_attribute('noise_seed', '249013') lidar_tr = carla.Transform(carla.Location(z=2)) lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)