Add semantic segmentation test.

PythonAPI/test/API/test_semantic_segmentation.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+# ==============================================================================
+# -- imports -------------------------------------------------------------------
+# ==============================================================================
+
+import carla
+import argparse
+import unittest
+import numpy as np
+import time
+from pathlib import Path
+
+
+DEFAULT_HOST = '127.0.0.1'
+DEFAULT_PORT = 2000
+OUTPUT_PATH = Path(__file__).parent / '_out' / 'semantic_segmentation'
+for e in OUTPUT_PATH.parents:
+  e.mkdir(exist_ok=True)
+TEST_TRANSFORMS = [
+  carla.Transform(
+    carla.Location(x=-9.872277, y=9.048162, z=8.958106),
+    carla.Rotation(pitch=-31.830936, yaw=-46.900402, roll=0.000000)),
+  carla.Transform(
+    carla.Location(x=-25.324059, y=25.735699, z=23.037737),
+    carla.Rotation(pitch=-31.760944, yaw=-47.201935, roll=-0.000000)),
+  carla.Transform(
+    carla.Location(x=-40.903774, y=42.561401, z=37.233944),
+    carla.Rotation(pitch=-31.760944, yaw=-47.201935, roll=-0.000000)),
+  carla.Transform(
+    carla.Location(x=-72.925125, y=77.143654, z=66.411736),
+    carla.Rotation(pitch=-31.760944, yaw=-47.201935, roll=-0.000000))
+]
+
+
+
+argparser = argparse.ArgumentParser()
+argparser.add_argument(
+    '--host',
+    metavar='H',
+    default=DEFAULT_HOST,
+    help=f'IP of the host server (default: {DEFAULT_HOST})')
+argparser.add_argument(
+    '-p', '--port',
+    metavar='P',
+    default=DEFAULT_PORT,
+    type=int,
+    help=f'TCP port to listen to (default: {DEFAULT_PORT})')
+args = argparser.parse_args()
+
+
+
+class TestSemanticSegmentation(unittest.TestCase):
+
+  def __init__(self, methodName: str = "runTest"):
+    super().__init__(methodName)
+    self.camera = None
+
+  @staticmethod
+  def save_image(image):
+    image.convert(carla.ColorConverter.CityScapesPalette)
+    image.save_to_disk(str(OUTPUT_PATH / f'frame-{image.frame}'))
+
+  def test_semantic_segmentation(self, host = DEFAULT_HOST, port = DEFAULT_PORT):
+    try:
+      client = carla.Client(host, port)
+      self.assertIsNotNone(client)
+      client.set_timeout(20.0)
+      world = client.get_world()
+      self.assertIsNotNone(world)
+      bpl = world.get_blueprint_library()
+      camera = world.spawn_actor(
+        bpl.find('sensor.camera.semantic_segmentation'),
+        TEST_TRANSFORMS[0])
+      self.camera = camera
+      camera.listen(lambda image: TestSemanticSegmentation.save_image(image))
+      self.assertIsNotNone(bpl)
+      spectator = world.get_spectator()
+      self.assertIsNotNone(spectator)
+      spectator.set_transform(TEST_TRANSFORMS[0])
+      for e in TEST_TRANSFORMS:
+        camera.set_transform(e)
+        spectator.set_transform(e)
+        world.tick()
+        time.sleep(0.5)
+      time.sleep(1)
+    finally:
+      if self.camera != None:
+        self.camera.destroy()
+        self.camera = None