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Compensate traffic light displacement.

This commit is contained in:
Axel1092 2020-07-27 12:23:56 +02:00 committed by Axel1092
parent 215ceff451
commit 7b455ce92e
1 changed files with 8 additions and 1 deletions
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9
LibCarla/source/carla/road/MapBuilder.cpp
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@ -24,6 +24,7 @@
#include "carla/road/element/RoadInfoCrosswalk.h"
#include "carla/road/InformationSet.h"
#include "carla/road/Signal.h"
#include "carla/road/SignalType.h"
#include <iterator>
#include <memory>
@ -766,7 +767,13 @@ namespace road {
for(auto& signal_pair : _temp_signal_container) {
auto& signal = signal_pair.second;
signal->_transform = ComputeSignalTransform(signal, _map_data);
auto transform = ComputeSignalTransform(signal, _map_data);
// Hack: compensate RoadRunner displacement (25cm) due to lightbox size
if (SignalType::IsTrafficLight(signal->GetType())) {
transform.location = transform.location +
geom::Location(transform.GetForwardVector()*0.25);
}
signal->_transform = transform;
}
_map_data._signals = std::move(_temp_signal_container);