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Revert "updated LIDAR setup to reflect a real Velodyne 32" 

This reverts commit 0c8d38adf1.
This commit is contained in:
German Ros 2019-02-28 15:55:04 -08:00
parent 0c8d38adf1
commit 628b78844b
1 changed files with 1 additions and 7 deletions
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8
PythonAPI/performance_benchmark.py
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@ -121,13 +121,7 @@ def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z']) sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw']) sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.lidar'): elif sensor_spec['type'].startswith('sensor.lidar'):
bp.set_attribute('range', '200') bp.set_attribute('range', '5000')
bp.set_attribute('rotation_frequency', '10')
bp.set_attribute('channels', '32')
bp.set_attribute('upper_fov', '15')
bp.set_attribute('lower_fov', '-30')
bp.set_attribute('points_per_second', '500000')
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z']) sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw']) sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'], roll=sensor_spec['roll'], yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.gnss'): elif sensor_spec['type'].startswith('sensor.other.gnss'):