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Added detection of 'Speed_' object record from roadrunner to interpret it as a speed signal.

This commit is contained in:
Axel1092 2020-07-21 14:52:29 +02:00 committed by Axel1092
parent 5428354e5c
commit cbd12ac056
2 changed files with 33 additions and 6 deletions
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26
LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
View File

@ -32,6 +32,7 @@ namespace parser {
// type Crosswalk
std::string type = node_object.attribute("type").as_string();
std::string name = node_object.attribute("name").as_string();
if (type == "crosswalk") {
// read all points
@ -62,6 +63,31 @@ namespace parser {
node_object.attribute("length").as_double(),
points);
} else if (name.substr(0, 6) == "Speed_") {
road::RoadId road_id = node_road.attribute("id").as_uint();
road::Road *road = map_builder.GetRoad(road_id);
// speed signal by roadrunner
std::string speed_str = name.substr(6);
double speed = std::stod(speed_str);
map_builder.AddSignal(road,
node_object.attribute("id").as_string(),
node_object.attribute("s").as_double(),
node_object.attribute("t").as_double(),
node_object.attribute("name").as_string(),
"no",
node_object.attribute("orientation").value(),
node_object.attribute("zOffset").as_double(),
"OpenDRIVE",
"274",
speed_str,
speed,
"mph",
node_object.attribute("height").as_double(),
node_object.attribute("width").as_double(),
speed_str,
node_object.attribute("hdg").as_double(),
node_object.attribute("pitch").as_double(),
node_object.attribute("roll").as_double());
}
}
}

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
View File

@ -378,9 +378,10 @@ T * GetClosestTrafficSignActor(const carla::road::Signal &Signal, UWorld* World)
for (AActor* Actor : Actors)
{
float Dist = FVector::DistSquared(Actor->GetActorLocation(), Location);
if (Dist < MinDistance && MatchSignalAndActor(Signal, ClosestTrafficSign))
T * TrafficSign = Cast<T>(Actor);
if (Dist < MinDistance && MatchSignalAndActor(Signal, TrafficSign))
{
ClosestTrafficSign = Cast<T>(Actor);
ClosestTrafficSign = TrafficSign;
MinDistance = Dist;
}
}
@ -402,8 +403,8 @@ void ATrafficLightManager::SpawnTrafficLights()
{
continue;
}
ATrafficSignBase * ClosestTrafficSign = GetClosestTrafficSignActor(*Signal.get(), GetWorld());
ATrafficLightBase * TrafficLight = Cast<ATrafficLightBase>(ClosestTrafficSign);
ATrafficLightBase * TrafficLight = GetClosestTrafficSignActor<ATrafficLightBase>(
*Signal.get(), GetWorld());
if (TrafficLight)
{
UTrafficLightComponent *TrafficLightComponent = TrafficLight->GetTrafficLightComponent();
@ -425,8 +426,8 @@ void ATrafficLightManager::SpawnTrafficLights()
carla::road::SignalType::IsTrafficLight(Signal->GetType()) &&
!SignalsToSpawn.count(SignalId))
{
ATrafficSignBase * ClosestTrafficSign = GetClosestTrafficSignActor(*Signal.get(), GetWorld());
ATrafficLightBase * TrafficLight = Cast<ATrafficLightBase>(ClosestTrafficSign);
ATrafficLightBase * TrafficLight = GetClosestTrafficSignActor<ATrafficLightBase>(
*Signal.get(), GetWorld());
if (TrafficLight)
{
UTrafficLightComponent *TrafficLightComponent = TrafficLight->GetTrafficLightComponent();