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

Traffic light gets illuminated when car is close to its trigger volume

This commit is contained in:
Manish 2019-02-27 14:57:51 +01:00 committed by nsubiron
parent 4961fd488b
commit be6b9d3b79
1 changed files with 32 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
PythonAPI/no_rendering_mode.py
View File

@ -165,6 +165,9 @@ class Util(object):
for surface in source_surfaces:
destination_surface.blit(surface[0], surface[1], rect, blend_mode)
@staticmethod
def length (v):
return math.sqrt(v.x**2 + v.y**2 + v.z**2)
# ==============================================================================
# -- ModuleManager -------------------------------------------------------------
# ==============================================================================
@ -739,13 +742,37 @@ class ModuleWorld(object):
return (vehicles, traffic_lights, speed_limits, stop_signals, walkers)
def get_bounding_box(self, surface, actor):
bb = actor.trigger_volume.extent
corners = [carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x, y=-bb.y),
carla.Location(x=bb.x, y=bb.y),
carla.Location(x=-bb.x, y=bb.y),
carla.Location(x=-bb.x, y=-bb.y)]
corners = [x + actor.trigger_volume.location for x in corners]
t = actor.get_transform()
t.transform(corners)
return corners
def _render_traffic_lights(self, surface, list_tl, world_to_pixel):
for tl in list_tl:
pos = world_to_pixel(tl.get_location())
hero = self.hero_actor
if hero is not None and hero.is_at_traffic_light() and tl.id == hero.get_traffic_light().id:
srf = self.traffic_light_surfaces.surfaces['h']
surface.blit(srf, srf.get_rect(center=pos))
world_pos = tl.get_location()
pos = world_to_pixel(world_pos)
if self.hero_actor is not None and hasattr(tl, 'trigger_volume'):
corners = self.get_bounding_box(surface, tl)
corners = [world_to_pixel(p) for p in corners]
tl_t = tl.get_transform()
transformed_tv = tl_t.transform(tl.trigger_volume.location)
d = transformed_tv.distance(self.hero_actor.get_location())
s = Util.length(tl.trigger_volume.extent) + Util.length(self.hero_actor.bounding_box.extent)
if ( d <= s ):
# Highlight traffic light
srf = self.traffic_light_surfaces.surfaces['h']
surface.blit(srf, srf.get_rect(center=pos))
srf = self.traffic_light_surfaces.surfaces[tl.state]
surface.blit(srf, srf.get_rect(center=pos))