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performance_benchmark initial script

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German Ros 2019-02-24 01:15:15 -08:00 committed by nsubiron
parent 43ead32787
commit ee3f380752
2 changed files with 191 additions and 0 deletions
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.idea/vcs.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

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PythonAPI/performance_benchmark.py Normal file
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import argparse
import numpy as np
import carla
list_towns = ['Town1', 'Town2', 'Town3', 'Town4', 'Town5']
number_locations = 5
number_ticks = 100
actor_list = ['vehicle.*']
def weathers():
list_weathers = [ carla.WeatherParameters.ClearNoon,
carla.WeatherParameters.CloudyNoon,
carla.WeatherParameters.MidRainSunset,
carla.WeatherParameters.HardRainSunset,
carla.WeatherParameters.SoftRainSunset
]
return list_weathers
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'}]
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'}]
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'}]
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'},
{'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'}]
list_sensor_specs.append(sensors00)
list_sensor_specs.append(sensors01)
list_sensor_specs.append(sensors02)
list_sensor_specs.append(sensors03)
list_sensor_specs.append(sensors04)
return list_sensor_specs
def create_ego_vehicle(world, ego_vehicle, spawn_point, list_sensor_spec):
if ego_vehicle:
ego_vehicle.set_transform(spawn_point)
sensors = None
else:
blueprint_library = world.get_blueprint_library()
blueprint = blueprint_library.filter('vehicle.lincoln.mkz2017')[0]
ego_vehicle = world.try_spawn_actor(blueprint, spawn_point)
# setup sensors
for sensor_spec in list_sensor_spec:
bp = blueprint_library.find(sensor_spec['id'])
if sensor_spec['id'].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(sensor_spec['width']))
bp.set_attribute('image_size_y', str(sensor_spec['height']))
bp.set_attribute('fov', str(sensor_spec['fov']))
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'])
elif sensor_spec['id'].startswith('sensor.lidar'):
bp.set_attribute('range', '5000')
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'])
elif sensor_spec['id'].startswith('sensor.other.gnss'):
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'], z=sensor_spec['z'])
sensor_rotation = carla.Rotation()
# create sensor
sensor_transform = carla.Transform(sensor_location, sensor_rotation)
sensors = world.spawn_actor(bp, sensor_transform, ego_vehicle)
return ego_vehicle, sensors
def run_benchmark(world, sensor_specs_list, number_locations, number_ticks, actor_list):
spawn_points = world.get_map().get_spawn_points()
n = min(number_locations, len(spawn_points))
ego_vehicle = None
list_fps = []
sensor_list = None
for i in range(n):
spawn_point = spawn_points[i]
ego_vehicle, sensors = create_ego_vehicle(world, ego_vehicle, spawn_point, sensor_specs_list)
if sensors:
sensor_list = sensors
ego_vehicle.set_autopilot(True)
ticks = 0
while ticks < number_ticks:
if world.wait_for_tick(10.0):
continue
# TODO: get real FPS
current_fps = 0
list_fps.append(current_fps)
ticks += 1
for sensor in sensor_list:
sensor.destroy()
ego_vehicle.destroy()
return list_fps
def compute_mean_std(list_values):
np_values = np.array(list_values)
mean = np.mean(np_values)
std = np.std(np_values)
return mean, std
def serialize_records(records, filename):
with open(filename, 'w+') as fd:
s = "| Sensors | Town | Weather | Samples | Mean fps | Std fps |\n"
s += "| ----------- | ----------- | ----------- | ----------- | ----------- | ----------- |"
fd.write(s)
for record in records:
s = "| {} | {} | {} | {} | {:06.2f} | {:06.2f} |".format(record['sensors'],
record['town'],
record['weather'],
record['samples'],
record['fps_mean'],
record['fps_std'])
fd.write(s)
def main(args):
client = carla.Client('localhost', 2000)
client.set_timeout(10.0)
records = []
for town in list_towns:
world = client.load_world(town)
for weather in weathers():
world.set_weather(weather)
for sensors in define_sensors():
list_fps = run_benchmark(world, sensors, number_locations, number_ticks, actor_list)
mean, std = compute_mean_std(list_fps)
sensor_str = ""
for sensor in sensors:
sensor_str += (sensor['label'] + " ")
record = {'sensors': sensor_str,
'weather': weather,
'town': town,
'samples': number_locations*number_ticks,
'fps_mean': mean,
'fps_std': mean}
records.append(record)
print(record)
serialize_records(records, args.file)
return 0
if __name__ == '__main__':
description = "Benchmark CARLA performance in your platform for different towns and sensor configurations\n"
parser = argparse.ArgumentParser(description=description)
parser.add_argument('--host', default='localhost', help='IP of the host server (default: localhost)')
parser.add_argument('--port', default='2000', help='TCP port to listen to (default: 2000)')
parser.add_argument('--file', type=str, help='Write results into a txt file', default="benchmark.md")
args = parser.parse_args()
main(args)