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Displace signals outside driving and shoulder lanes

This commit is contained in:
Joel Moriana 2022-07-29 10:47:10 +02:00 committed by glopezdiest
parent 9a5508ee35
commit bc4b6331e1
1 changed files with 7 additions and 6 deletions
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13
LibCarla/source/carla/road/MapBuilder.cpp
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@ -1041,10 +1041,10 @@ void MapBuilder::CreateController(
auto& signal = signal_pair.second;
auto signal_position = signal->GetTransform().location;
auto closest_waypoint_to_signal =
map.GetClosestWaypointOnRoad(signal_position);
map.GetClosestWaypointOnRoad(signal_position,
static_cast<int32_t>(carla::road::Lane::LaneType::Shoulder) | static_cast<int32_t>(carla::road::Lane::LaneType::Driving));
// workarround to not move speed signals
if (signal->GetName().substr(0, 6) == "Speed_" ||
signal->GetName().substr(0, 6) == "speed_" ||
if (
signal->GetName().find("Stencil_STOP") != std::string::npos ||
signal->_using_inertial_position) {
continue;
@ -1057,17 +1057,18 @@ void MapBuilder::CreateController(
int iter = 0;
int MaxIter = 10;
// Displaces signal until it finds a suitable spot
while(distance_to_road < lane_width * 0.5 && iter < MaxIter) {
while(distance_to_road < (lane_width * 0.5 + (lane_width*0.2)) && iter < MaxIter) {
if(iter == 0) {
log_debug("Traffic sign",
signal->GetSignalId(),
"overlaps a driving lane. Moving out of the road...");
}
geom::Vector3D displacement = 1.f*(signal->GetTransform().GetRightVector()) *
static_cast<float>(abs(lane_width))*0.5f;
static_cast<float>(abs(lane_width))*0.2f;
signal_position += displacement;
closest_waypoint_to_signal =
map.GetClosestWaypointOnRoad(signal_position);
map.GetClosestWaypointOnRoad(signal_position,
static_cast<int32_t>(carla::road::Lane::LaneType::Shoulder) | static_cast<int32_t>(carla::road::Lane::LaneType::Driving));
distance_to_road =
(map.ComputeTransform(closest_waypoint_to_signal.get()).location -
signal_position).Length();