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Added default values for lanes missing width

This commit is contained in:
Marc Garcia Puig 2020-06-10 11:49:09 +02:00
parent f5bf74aafc
commit 083d579961
2 changed files with 8 additions and 0 deletions
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1
CHANGELOG.md
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@ -12,6 +12,7 @@
* Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
* Added support for additional TraCI clients in Sumo co-simulation
* Added API functions `get_right_vector` and `get_up_vector`
* Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
* Added parameter to enable/disable pedestrian navigation in standalone mode
* Improved mesh split in standalone mode
* Fixed large RAM usage when loading polinomial geometry from OpenDRIVE

7
LibCarla/source/carla/opendrive/parser/LaneParser.cpp
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@ -26,6 +26,7 @@ namespace parser {
road::Lane *lane = map_builder.GetLane(road_id, lane_id, s);
// Lane Width
int width_count = 0;
for (pugi::xml_node lane_width_node : lane_node.children("width")) {
const double s_offset = lane_width_node.attribute("sOffset").as_double();
const double a = lane_width_node.attribute("a").as_double();
@ -35,6 +36,12 @@ namespace parser {
// Call Map builder create Lane Width function
map_builder.CreateLaneWidth(lane, s_offset + s, a, b, c, d);
width_count++;
}
if (width_count == 0 && lane->GetId() != 0) {
map_builder.CreateLaneWidth(lane, s, 0.0, 0.0, 0.0, 0.0);
std::cout << "WARNING: In road " << lane->GetRoad()->GetId() << " lane " << lane->GetId() <<
" no \"<width>\" parameter found under \"<lane>\" tag. Using default values." << std::endl;
}
// Lane Border