Function main

PythonAPI/util/performance_benchmark.py:422–473

(args)

def main(args):
  client = carla.Client(args.host, int(args.port))
  client.set_timeout(60.0)
  pygame.init()

  records = {}
  maps = [m.replace('/Game/Carla/Maps/', '') for m in client.get_available_maps()]

  for town in sorted(maps):
    world = client.load_world(town)

    # set to async mode
    settings = world.get_settings()
    settings.synchronous_mode = False
    settings.fixed_delta_seconds = None
    world.apply_settings(settings)

    # spectator pointing to the sky to reduce rendering impact
    spectator = world.get_spectator()
    spectator.set_transform(carla.Transform(carla.Location(z=500), carla.Rotation(pitch=90)))

    for weather in define_weather():
      world.set_weather(weather["parameter"])
      for env in define_environments():
        for sensors in define_sensors():
          list_fps = run_benchmark(world, sensors, env["vehicles"], env["walkers"], client)
          mean, std = compute_mean_std(list_fps)
          sensor_str = ""
          for sensor in sensors:
            sensor_str += (sensor['label'] + " ")

          record = {
            'town': town,
            'sensors': sensor_str,
            'weather': weather["name"],
            'n_vehicles': env["vehicles"],
            'n_walkers': env["walkers"],
            'samples': args.ticks,
            'fps_mean': mean,
            'fps_std': std
          }

          env_str = str(env["vehicles"]) + str(env["walkers"])

          if env_str not in records:
            records[env_str] = []
          records[env_str].append(record)
          print(record)

  system_specs = get_system_specs()
  serialize_records(records, system_specs, args.file)
  pygame.quit()


if __name__ == '__main__':