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Updated benchmark script 

* Changed default camera resolution to 1920x1080
* Fixed bug calling wait_for_tick in synchronous mode
This commit is contained in:
Joel Moriana 2021-07-23 17:09:49 +02:00 committed by bernat
parent f18590a167
commit 5912d8dc98
1 changed files with 21 additions and 11 deletions
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32
PythonAPI/util/performance_benchmark.py
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@ -96,18 +96,28 @@ def define_sensors():
else:
sensors00 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'label': '0. cam-300x200'}]
'width': 1920, 'height': 1080, 'fov': 100, 'label': '0. cam-1920x1080'}]
sensors01 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 800, 'height': 600, 'fov': 100, 'label': '1. cam-800x600'}]
'width': 1920, 'height': 1080, 'fov': 100, 'label': '1. cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'}]
sensors02 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 1900, 'height': 1080, 'fov': 100, 'label': '2. cam-1900x1080'}]
'width': 1920, 'height': 1080, 'fov': 100, 'label': '2. cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 90.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'}]
sensors03 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'label': '3. cam-300x200'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'label': 'cam-300x200'}]
'width': 1920, 'height': 1080, 'fov': 100, 'label': '3. cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 90.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 270.0,
'width': 1920, 'height': 1080, 'fov': 100, 'label': 'cam-1920x1080'}]
sensors04 = [{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
'pts_per_sec': '100000', 'label': '4. LIDAR: 100k'}]
@ -183,7 +193,7 @@ class CallBack(object):
return self._current_fps
def create_environment(world, sensors, n_vehicles, n_walkers, spawn_points, client):
def create_environment(world, sensors, n_vehicles, n_walkers, spawn_points, client, tick):
global sensors_callback
sensors_ret = []
blueprint_library = world.get_blueprint_library()
@ -319,8 +329,8 @@ def create_environment(world, sensors, n_vehicles, n_walkers, spawn_points, clie
all_id.append(walkers_list[i]["id"])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
world.wait_for_tick()
# ensures client has received the last transform of the walkers we have just created
tick()
# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
# set how many pedestrians can cross the road
@ -369,7 +379,7 @@ def run_benchmark(world, sensors, n_vehicles, n_walkers, client, debug=False):
tick = world.tick if args.sync else world.wait_for_tick
set_world_settings(world, args)
vehicles_list, walkers_list, all_id, all_actors, sensors_ret = create_environment(world, sensors, n, n_walkers, spawn_points, client)
vehicles_list, walkers_list, all_id, all_actors, sensors_ret = create_environment(world, sensors, n, n_walkers, spawn_points, client, tick)
if sensors_ret:
sensor_list = sensors_ret
@ -461,7 +471,7 @@ def get_total(records):
def get_system_specs():
str_system = ""
cpu_info = cpuinfo.get_cpu_info()
str_system += "CPU {} {}. ".format(cpu_info['brand'], cpu_info['family'])
str_system += "CPU {} {}. ".format(cpu_info.get('brand', 'Unknown'), cpu_info.get('family', 'Unknown'))
memory_info = psutil.virtual_memory()
str_system += "{:03.2f} GB RAM memory. ".format(memory_info.total / (1024 * 1024 * 1024))