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carla
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minor fixes

This commit is contained in:
German Ros 2019-02-25 16:39:03 -08:00 committed by nsubiron
parent f3f69fddb6
commit e3e98b4628
2 changed files with 36 additions and 28 deletions
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6
.idea/vcs.xml
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@ -1,6 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

58
PythonAPI/performance_benchmark.py
View File

@ -24,6 +24,10 @@ import cpuinfo
import numpy as np
import pygame
import psutil
try:
import queue
except ImportError:
import Queue as queue
import shutil
import subprocess
from tr import tr
@ -35,20 +39,20 @@ import carla
# ======================================================================================================================
pygame_clock = pygame.time.Clock()
current_fps = 0
sensors_callback = []
# ======================================================================================================================
# -- Tunable parameters ------------------------------------------------------------------------------------------------
# ======================================================================================================================
list_towns = ['Town01', 'Town02', 'Town03', 'Town04', 'Town05']
number_locations = 3
number_ticks = 50
number_locations = 2
number_ticks = 4
actor_list = ['vehicle.*']
def weathers():
list_weathers = [ carla.WeatherParameters.ClearNoon,
carla.WeatherParameters.CloudyNoon,
carla.WeatherParameters.SoftRainSunset
#carla.WeatherParameters.CloudyNoon,
#carla.WeatherParameters.SoftRainSunset
]
return list_weathers
@ -58,22 +62,22 @@ def define_sensors():
list_sensor_specs = []
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':'cam-300x200'}]
'width': 300, 'height': 200, 'fov': 100, 'label':'1. cam-300x200'}]
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':'cam-800x600'}]
'width': 800, 'height': 600, 'fov': 100, 'label':'2. cam-800x600'}]
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':'cam-1900x1080'}]
'width': 1900, 'height': 1080, 'fov': 100, 'label':'3. cam-1900x1080'}]
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': 'cam-300x200'},
'width': 300, 'height': 200, 'fov': 100, 'label': '4. 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'},
]
sensors04 = [{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
'label': 'LIDAR'}]
'label': '5. LIDAR'}]
list_sensor_specs.append(sensors00)
list_sensor_specs.append(sensors01)
@ -85,6 +89,8 @@ def define_sensors():
def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
global sensors_callback
if ego_vehicle:
ego_vehicle.set_transform(spawn_point)
sensors = None
@ -114,6 +120,12 @@ def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
# create sensor
sensor_transform = carla.Transform(sensor_location, sensor_rotation)
sensor = world.spawn_actor(bp, sensor_transform, ego_vehicle)
# add callbacks
sensor_queue = queue.Queue()
sensor.listen(sensor_queue.put)
sensors_callback.append(sensor_queue)
sensors.append(sensor)
return ego_vehicle, sensors
@ -124,7 +136,7 @@ def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
# ======================================================================================================================
def run_benchmark(world, sensor_specs_list, number_locations, number_ticks, actor_list):
global current_fps
global current_fps, sensors_callback
spawn_points = world.get_map().get_spawn_points()
n = min(number_locations, len(spawn_points))
@ -141,15 +153,15 @@ def run_benchmark(world, sensor_specs_list, number_locations, number_ticks, acto
ticks = 0
while ticks < number_ticks:
if not world.wait_for_tick(10.0):
continue
print("== Samples {} / {}".format(ticks, number_ticks))
ts = world.wait_for_tick(1000.0)
print("== Samples {} / {}".format(ticks+1, number_ticks))
list_fps.append(current_fps)
ticks += 1
for sensor in sensor_list:
sensor.stop()
sensor.destroy()
sensors_callback.clear()
ego_vehicle.destroy()
return list_fps
@ -170,7 +182,7 @@ def serialize_records(records, system_specs, filename):
s += "| ----------- | ----------- | ----------- | ----------- | ----------- | ----------- |\n"
fd.write(s)
for sensor_key in records.keys():
for sensor_key in sorted(records.keys()):
list_records = records[sensor_key]
for record in list_records:
s = "| {} | {} | {} | {} | {:03.2f} | {:03.2f} |\n".format(record['sensors'],
@ -211,7 +223,10 @@ def get_system_specs():
def on_world_tick(timestamp):
global pygame_clock, current_fps
global pygame_clock, current_fps, sensors_callback
# block for sensor data!
for callback in sensors_callback:
_ = callback.get()
pygame_clock.tick()
current_fps = pygame_clock.get_fps()
@ -220,11 +235,11 @@ def on_world_tick(timestamp):
def main(args):
client = carla.Client(args.host, int(args.port))
client.set_timeout(10.0)
client.set_timeout(60.0)
pygame.init()
records = {}
for town in list_towns:
for town in sorted(client.get_available_maps()):
world = client.load_world(town)
world.on_tick(on_world_tick)
for weather in weathers():
@ -251,9 +266,8 @@ def main(args):
system_specs = get_system_specs()
serialize_records(records, system_specs, args.file)
return 0
pygame.quit()
print("--- I am not going to exit...")
if __name__ == '__main__':
description = "Benchmark CARLA performance in your platform for different towns and sensor configurations\n"