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Add noise seeds to the determinism script

This commit is contained in:
Daniel Santos-Olivan 2020-11-05 14:49:08 +01:00 committed by Marc Garcia Puig
parent d3879a1c53
commit 3663d6f79f
1 changed files with 3 additions and 0 deletions
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3
PythonAPI/util/check_raycast_sensors_determinism.py
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@ -150,6 +150,7 @@ class SpawnLidarNoDropff(Scenario):
lidar_bp.set_attribute('channels', '64') lidar_bp.set_attribute('channels', '64')
lidar_bp.set_attribute('points_per_second', '200000') lidar_bp.set_attribute('points_per_second', '200000')
lidar_bp.set_attribute('dropoff_general_rate', '0.0') 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_tr = carla.Transform(carla.Location(z=2))
lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00) 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)) vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
radar_bp = world.get_blueprint_library().find('sensor.other.radar') 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_tr = carla.Transform(carla.Location(z=2))
radar = world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00) 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 = world.get_blueprint_library().find('sensor.lidar.ray_cast')
lidar_bp.set_attribute('channels', '64') lidar_bp.set_attribute('channels', '64')
lidar_bp.set_attribute('points_per_second', '200000') lidar_bp.set_attribute('points_per_second', '200000')
lidar_bp.set_attribute('noise_seed', '249013')
lidar_tr = carla.Transform(carla.Location(z=2)) lidar_tr = carla.Transform(carla.Location(z=2))
lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00) lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)