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Fixed signal position when not aligned with the lane

This commit is contained in:
Joel Moriana 2022-09-01 20:56:18 +02:00 committed by bernat
parent db69a1a579
commit 7c3fbee636
1 changed files with 6 additions and 4 deletions
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10
LibCarla/source/carla/road/MapBuilder.cpp
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@ -1040,6 +1040,7 @@ void MapBuilder::CreateController(
for (auto& signal_pair : map._data._signals) {
auto& signal = signal_pair.second;
auto signal_position = signal->GetTransform().location;
auto signal_rotation = signal->GetTransform().rotation;
auto closest_waypoint_to_signal =
map.GetClosestWaypointOnRoad(signal_position,
static_cast<int32_t>(carla::road::Lane::LaneType::Shoulder) | static_cast<int32_t>(carla::road::Lane::LaneType::Driving));
@ -1051,9 +1052,8 @@ void MapBuilder::CreateController(
continue;
}
if(closest_waypoint_to_signal) {
auto distance_to_road =
(map.ComputeTransform(closest_waypoint_to_signal.get()).location -
signal_position).Length();
auto road_transform = map.ComputeTransform(closest_waypoint_to_signal.get());
auto distance_to_road = (road_transform.location -signal_position).Length();
double lane_width = map.GetLaneWidth(closest_waypoint_to_signal.get());
int displacement_direction = 1;
int iter = 0;
@ -1080,9 +1080,10 @@ void MapBuilder::CreateController(
displacement_direction = 0;
}
geom::Vector3D displacement = 1.f*(signal->GetTransform().GetRightVector()) *
geom::Vector3D displacement = 1.f*(road_transform.GetRightVector()) *
static_cast<float>(abs(lane_width))*0.2f;
signal_position += (displacement * displacement_direction);
signal_rotation = road_transform.rotation;
closest_waypoint_to_signal =
map.GetClosestWaypointOnRoad(signal_position,
static_cast<int32_t>(carla::road::Lane::LaneType::Shoulder) | static_cast<int32_t>(carla::road::Lane::LaneType::Driving));
@ -1097,6 +1098,7 @@ void MapBuilder::CreateController(
} else {
// Only perform the displacement if a good location has been found
signal->_transform.location = signal_position;
signal->_transform.rotation = signal_rotation;
}
}
}