Function run_benchmark

PythonAPI/util/performance_benchmark.py:314–359

(world, sensors, n_vehicles, n_walkers, client, debug=False)

# ======================================================================================================================

def run_benchmark(world, sensors, n_vehicles, n_walkers, client, debug=False):
  global sensors_callback

  spawn_points = world.get_map().get_spawn_points()
  n = min(n_vehicles, len(spawn_points))
  list_fps = []
  sensor_list = None

  vehicles_list, walkers_list, all_id, all_actors, sensors_ret = create_environment(world, sensors, n, n_walkers, spawn_points, client)

  if sensors_ret:
    sensor_list = sensors_ret

  ticks = 0
  while ticks < args.ticks:
    _ = world.wait_for_tick()
    if debug:
      print("== Samples {} / {}".format(ticks + 1, args.ticks))

    min_fps = float('inf')
    for sc in sensors_callback:
      fps = sc.get_fps()
      if fps < min_fps:
        min_fps = fps
    if math.isinf(min_fps):
      min_fps = 0
    list_fps.append(min_fps)

    ticks += 1

  for sensor in sensor_list:
    sensor.stop()
    sensor.destroy()
  sensors_callback.clear()

  print('Destroying %d vehicles.\n' % len(vehicles_list))
  client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])

  # stop walker controllers (list is [controller, actor, controller, actor ...])
  for i in range(0, len(all_id), 2):
    all_actors[i].stop()

  print('\ndestroying %d walkers' % len(walkers_list))
  client.apply_batch([carla.command.DestroyActor(x) for x in all_id])

  return list_fps


def compute_mean_std(list_values):