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Fix GenerateLaneMarksForCenterLine problem

This commit is contained in:
xiaofei 2023-12-13 10:08:50 +08:00 committed by Blyron
parent 7e69258e2d
commit 43a1436c65
1 changed files with 33 additions and 4 deletions
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37
LibCarla/source/carla/road/MeshFactory.cpp
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@ -930,8 +930,23 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
std::pair<geom::Vector3D, geom::Vector3D> edges = std::pair<geom::Vector3D, geom::Vector3D> edges =
lane.GetCornerPositions(s_current, road_param.extra_lane_width); lane.GetCornerPositions(s_current, road_param.extra_lane_width);
geom::Vector3D director = edges.second - edges.first; geom::Vector3D director;
director /= director.Length(); if (lane.GetWidth(s_current) != 0) {
director = edges.second - edges.first;
director /= director.Length();
} else {
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
for (const auto& lane_pair : lanes) {
if (lane_pair.second.GetWidth(s_current) != 0) {
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
director = another_edge.second - another_edge.first;
director /= director.Length();
break;
}
}
}
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
out_mesh.AddVertex(edges.first); out_mesh.AddVertex(edges.first);
@ -944,8 +959,22 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width); edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
director = edges.second - edges.first; if (lane.GetWidth(s_current) != 0) {
director /= director.Length(); director = edges.second - edges.first;
director /= director.Length();
} else {
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
for (const auto& lane_pair : lanes) {
if (lane_pair.second.GetWidth(s_current) != 0) {
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
director = another_edge.second - another_edge.first;
director /= director.Length();
break;
}
}
}
endmarking = edges.first + director * lane_mark_info.width; endmarking = edges.first + director * lane_mark_info.width;
out_mesh.AddVertex(edges.first); out_mesh.AddVertex(edges.first);