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carla
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Minor improvements

This commit is contained in:
Daniel Santos-Olivan 2020-11-30 16:28:31 +01:00 committed by bernat
parent 75feb3d1a8
commit ad3b02cf91
2 changed files with 25 additions and 26 deletions
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23
PythonAPI/util/check_collisions_substepping.py
View File

@ -93,8 +93,8 @@ class Scenario():
actor_snapshot = np.array([
float(snapshot.frame - self.init_timestamp['frame0']), \
snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
actor.get_location().x, actor.get_location().y, actor.get_location().z, \
actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
return actor_snapshot
@ -312,7 +312,7 @@ class CarWalkerCollision(Scenario):
class TestCollisionScenario():
class CollisionScenarioTester():
def __init__(self, scene, output_path):
self.scene = scene
self.world = self.scene.world
@ -330,9 +330,8 @@ class TestCollisionScenario():
data_j = np.loadtxt(file_j)
max_error = np.amax(np.abs(data_i-data_j))
#print(max_error)
return max_error < 0.2
return max_error < 0.01
def check_simulations(self, rep_prefixes, gen_prefix):
repetitions = len(rep_prefixes)
@ -393,7 +392,7 @@ class TestCollisionScenario():
#os.remove(file_repetition)
def test_scenario(self, fps, fps_phys, repetitions = 1, sim_tics = 100):
def test_scenario(self, fps=20, fps_phys=100, repetitions = 1, sim_tics = 100):
output_str = "Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % (self.scenario_name, fps, fps_phys)
# Creating run features: prefix, settings and spectator options
@ -448,13 +447,13 @@ def main(arg):
test_list = [
#TestCollisionScenario(TwoSpawnedCars(client, world, True), output_path),
TestCollisionScenario(TwoCarsSlowSpeedCollision(client, world, True), output_path),
TestCollisionScenario(TwoCarsHighSpeedCollision(client, world, True), output_path),
TestCollisionScenario(CarBikeCollision(client, world, True), output_path),
TestCollisionScenario(CarWalkerCollision(client, world, True), output_path),
TestCollisionScenario(ThreeCarsSlowSpeedCollision(client, world, True), output_path),
TestCollisionScenario(ThreeCarsHighSpeedCollision(client, world, True), output_path),
CollisionScenarioTester(TwoSpawnedCars(client, world, True), output_path),
CollisionScenarioTester(TwoCarsSlowSpeedCollision(client, world, True), output_path),
CollisionScenarioTester(TwoCarsHighSpeedCollision(client, world, True), output_path),
CollisionScenarioTester(CarBikeCollision(client, world, True), output_path),
CollisionScenarioTester(CarWalkerCollision(client, world, True), output_path),
CollisionScenarioTester(ThreeCarsSlowSpeedCollision(client, world, True), output_path),
CollisionScenarioTester(ThreeCarsHighSpeedCollision(client, world, True), output_path),
]
repetitions = 10

28
PythonAPI/util/check_raycast_sensors_determinism.py
View File

@ -84,7 +84,7 @@ class Scenario():
sensor[1].destroy()
for actor in self.actor_list:
actor.destroy()
actor[1].destroy()
self.active = False
@ -105,8 +105,8 @@ class Scenario():
actor_snapshot = np.array([
float(snapshot.frame - self.init_timestamp['frame0']), \
snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
actor.get_location().x, actor.get_location().y, actor.get_location().z, \
actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
return actor_snapshot
@ -227,7 +227,7 @@ class SpawnLidarNoDropff(Scenario):
lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
self.add_sensor(lidar, "LiDAR")
self.actor_list.append(vehicle00)
self.add_actor(vehicle00, "Car")
self.wait(1)
@ -248,7 +248,7 @@ class SpawnSemanticLidar(Scenario):
lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
self.add_sensor(lidar, "SemLiDAR")
self.actor_list.append(vehicle00)
self.add_actor(vehicle00, "Car")
self.wait(1)
@ -270,7 +270,7 @@ class SpawnRadar(Scenario):
radar = self.world.spawn_actor(radar_bp, radar_tr, attach_to=vehicle00)
self.add_sensor(radar, "Radar")
self.actor_list.append(vehicle00)
self.add_actor(vehicle00, "Car")
self.wait(1)
@ -293,7 +293,7 @@ class SpawnLidarWithDropff(Scenario):
lidar = self.world.spawn_actor(lidar_bp, lidar_tr, attach_to=vehicle00)
self.add_sensor(lidar, "LiDAR")
self.actor_list.append(vehicle00)
self.add_actor(vehicle00, "Car")
self.wait(1)
@ -334,12 +334,12 @@ class SpawnAllRaycastSensors(Scenario):
self.add_sensor(lidar01, "LiDAR")
self.add_sensor(lidar02, "SemLiDAR")
self.add_sensor(lidar03, "LiDAR")
self.actor_list.append(vehicle00)
self.actor_list.append(vehicle01)
self.add_actor(vehicle00, "Car")
self.add_actor(vehicle01, "Car")
self.wait(1)
class TestSensorScenario():
class SensorScenarioTester():
def __init__(self, scene, output_path):
self.scene = scene
self.world = self.scene.world
@ -439,11 +439,11 @@ def main(arg):
os.mkdir(output_path)
test_list = [
TestSensorScenario(SpawnAllRaycastSensors(client, world), output_path),
TestSensorScenario(SpawnLidarNoDropff(client, world), output_path),
TestSensorScenario(SpawnLidarWithDropff(client, world), output_path),
TestSensorScenario(SpawnSemanticLidar(client, world), output_path),
TestSensorScenario(SpawnRadar(client, world), output_path)
SensorScenarioTester(SpawnAllRaycastSensors(client, world), output_path),
SensorScenarioTester(SpawnLidarNoDropff(client, world), output_path),
SensorScenarioTester(SpawnLidarWithDropff(client, world), output_path),
SensorScenarioTester(SpawnSemanticLidar(client, world), output_path),
SensorScenarioTester(SpawnRadar(client, world), output_path)
]
repetitions = 10