p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed road discretization for long geometries.

This commit is contained in:
Axel1092 2020-07-15 17:55:35 +02:00 committed by Axel1092
parent 6757ae7059
commit 64aa5b0396
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
LibCarla/source/carla/road/Map.cpp
View File

@ -822,6 +822,8 @@ namespace road {
// 1.8 degrees, maximum angle in a curve to place a segment
constexpr double angle_threshold = geom::Math::Pi<double>() / 100.0;
// maximum distance of a segment
constexpr double max_segment_length = 100.0;
// Generate waypoints at start of every lane
std::vector<Waypoint> topology;
@ -905,7 +907,8 @@ namespace road {
double angle = geom::Math::GetVectorAngle(
current_transform.GetForwardVector(), next_transform.GetForwardVector());
if (std::abs(angle) > angle_threshold) {
if (std::abs(angle) > angle_threshold ||
std::abs(current_waypoint.s - next_waypoint.s) > max_segment_length) {
AddElementToRtree(
rtree_elements,
current_transform,