p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Minor improvement in script

This commit is contained in:
Daniel Santos-Olivan 2020-11-25 12:32:11 +01:00 committed by bernat
parent f46dac8aba
commit 5899fa9e6a
1 changed files with 40 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

67
PythonAPI/util/check_raycast_sensors_determinism.py
View File

@ -53,15 +53,15 @@ class Scenario():
self.sensor_queue = Queue()
self.active = True
# Init timestamp
snapshot = self.world.get_snapshot()
self.init_timestamp = {'frame0' : snapshot.frame, 'time0' :
snapshot.timestamp.elapsed_seconds}
self.init_timestamp = {'frame0' : snapshot.frame, 'time0' : snapshot.timestamp.elapsed_seconds}
def wait(self, frames=100):
for _i in range(0, frames):
self.world.tick()
if self.active:
for s in self.sensor_list:
for _s in self.sensor_list:
self.sensor_queue.get(True, 1.0)
def add_sensor(self, sensor, sensor_type):
@ -90,7 +90,7 @@ class Scenario():
frame = lidar_data.frame - self.init_timestamp['frame0']
time_f = lidar_data.timestamp - self.init_timestamp['time0']
np.savetxt(self.get_filename(frame, name), points)
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((lidar_data.frame, name))
@ -107,7 +107,7 @@ class Scenario():
frame = lidar_data.frame - self.init_timestamp['frame0']
time_f = lidar_data.timestamp - self.init_timestamp['time0']
np.savetxt(self.get_filename(frame, name), points)
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((lidar_data.frame, name))
@ -121,7 +121,7 @@ class Scenario():
frame = radar_data.frame - self.init_timestamp['frame0']
time_f = radar_data.timestamp - self.init_timestamp['time0']
np.savetxt(self.get_filename(frame, name), points)
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((radar_data.frame, name))
@ -134,13 +134,13 @@ class Scenario():
self.active = False
def get_filename_with_prefix(self, prefix, f, id=""):
add_id = "" if id=="" else id + "_"
return prefix + add_id + ("%04d") % f + ".out"
def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
add_id = "" if actor_id is None else "_" + actor_id
add_frame = "" if frame is None else ("_%04d") % frame
return prefix + add_id + add_frame + ".out"
def get_filename(self, f, id=""):
add_id = "" if id=="" else id + "_"
return self.prefix + add_id + ("%04d") % f + ".out"
def get_filename(self, actor_id=None, frame=None):
return self.get_filename_with_prefix(self.prefix, actor_id, frame)
def run_simulation(self, prefix, tics = 200):
self.init_scene(prefix)
@ -307,11 +307,12 @@ class SpawnAllRaycastSensors(Scenario):
self.wait(1)
class TestScenario():
def __init__(self, scene):
def __init__(self, scene, output_path):
self.scene = scene
self.world = self.scene.world
self.client = self.scene.client
self.scenario_name = self.scene.__class__.__name__
self.output_path = output_path
def compare_files(self, file_i, file_j):
@ -345,8 +346,8 @@ class TestScenario():
sim_check = True
for f_idx in range(1, sim_tics):
for sensor in self.scene.sensor_list:
file_i = self.scene.get_filename_with_prefix(rep_prefixes[i], f_idx, sensor[0])
file_j = self.scene.get_filename_with_prefix(rep_prefixes[j], f_idx, sensor[0])
file_i = self.scene.get_filename_with_prefix(rep_prefixes[i], sensor[0], f_idx)
file_j = self.scene.get_filename_with_prefix(rep_prefixes[j], sensor[0], f_idx)
check_ij = self.compare_files(file_i, file_j)
sim_check = sim_check and check_ij
@ -370,17 +371,12 @@ class TestScenario():
settings.fixed_delta_seconds = 0.05
self.world.apply_settings(settings)
path = os.path.dirname(os.path.realpath(__file__))
path = os.path.join(path, "_sensors") + os.path.sep
if not os.path.exists(path):
os.mkdir(path)
prefix = path + self.scenario_name
prefix = self.output_path + self.scenario_name
t_start = time.perf_counter()
sim_prefixes = []
for i in range(0, repetitions):
prefix_rep = prefix + "_rep_" + ("%03d" % i) + "_"
prefix_rep = prefix + "_rep_" + ("%03d" % i)
self.scene.run_simulation(prefix_rep, tics=sim_tics)
sim_prefixes.append(prefix_rep)
@ -406,22 +402,39 @@ def main(arg):
spectator.set_transform(spectator_transform)
try:
# Setting output temporal folder
output_path = os.path.dirname(os.path.realpath(__file__))
output_path = os.path.join(output_path, "_sensors") + os.path.sep
if not os.path.exists(output_path):
os.mkdir(output_path)
repetitions = 10
test_all = TestScenario(SpawnAllRaycastSensors(client, world))
print("--------------------------------------------------------------")
test_all = TestScenario(SpawnAllRaycastSensors(client, world), output_path)
test_all.test_scenario(repetitions)
test_lidar_1 = TestScenario(SpawnLidarNoDropff(client, world))
print("--------------------------------------------------------------")
test_lidar_1 = TestScenario(SpawnLidarNoDropff(client, world), output_path)
test_lidar_1.test_scenario(repetitions)
test_lidar_2 = TestScenario(SpawnLidarWithDropff(client, world))
print("--------------------------------------------------------------")
test_lidar_2 = TestScenario(SpawnLidarWithDropff(client, world), output_path)
test_lidar_2.test_scenario(repetitions)
test_semlidar = TestScenario(SpawnSemanticLidar(client, world))
print("--------------------------------------------------------------")
test_semlidar = TestScenario(SpawnSemanticLidar(client, world), output_path)
test_semlidar.test_scenario(repetitions)
test_radar = TestScenario(SpawnRadar(client, world))
print("--------------------------------------------------------------")
test_radar = TestScenario(SpawnRadar(client, world), output_path)
test_radar.test_scenario(repetitions)
print("--------------------------------------------------------------")
# Remove all the output files
#shutil.rmtree(path)
finally:
world.apply_settings(pre_settings)