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Bug fixes: poly geometries problems at s = 0, crash when computing junction bounding box, crash in GetNextUntilLaneEnd and GetPreviousUntilLaneStart for very short roads.

This commit is contained in:
Axel1092 2020-05-06 10:35:51 +02:00 committed by Marc Garcia Puig
parent af23cd4cb9
commit f99a06f7e5
4 changed files with 28 additions and 13 deletions
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12
LibCarla/source/carla/client/Waypoint.cpp
View File

@ -87,7 +87,11 @@ namespace client {
remaining_length = current_s;
}
remaining_length -= std::numeric_limits<double>::epsilon();
result.emplace_back(result.back()->GetNext(remaining_length).front());
if(result.size()) {
result.emplace_back(result.back()->GetNext(remaining_length).front());
} else {
result.emplace_back(GetNext(remaining_length).front());
}
return result;
}
@ -114,7 +118,11 @@ namespace client {
remaining_length = current_s;
}
remaining_length -= std::numeric_limits<double>::epsilon();
result.emplace_back(result.back()->GetPrevious(remaining_length).front());
if(result.size()) {
result.emplace_back(result.back()->GetPrevious(remaining_length).front());
} else {
result.emplace_back(GetPrevious(remaining_length).front());
}
return result;
}

4
LibCarla/source/carla/road/Map.cpp
View File

@ -185,7 +185,7 @@ namespace road {
} else if (delta_s <= 0) {
return result_start;
} else {
return GetNext(result_start, distance_to_segment.first).front();
return GetNext(result_start, delta_s).front();
}
} else {
double delta_s = distance_to_segment.first;
@ -195,7 +195,7 @@ namespace road {
} else if (delta_s <= 0) {
return result_start;
} else {
return GetNext(result_start, distance_to_segment.first).front();
return GetNext(result_start, delta_s).front();
}
}
}

5
LibCarla/source/carla/road/MapBuilder.cpp
View File

@ -840,7 +840,10 @@ namespace road {
for (int i = 0; i < number_intervals; ++i) {
if (interval < std::numeric_limits<double>::epsilon())
break;
next_wp = map.GetNext(next_wp, interval).back();
auto next = map.GetNext(next_wp, interval);
if(next.size()){
next_wp = next.back();
}
location = map.ComputeTransform(next_wp).location;
get_min_max(location);

20
LibCarla/source/carla/road/element/Geometry.cpp
View File

@ -136,10 +136,11 @@ namespace element {
double current_s = 0;
double current_u = 0;
double last_u = 0;
double last_v = 0;
double last_v = _poly.Evaluate(current_u);
double last_s = 0;
RtreeValue last_val;
RtreeValue last_val{last_u, last_v, last_s, _poly.Tangent(current_u)};
while (current_s < _length + delta_u) {
current_u += delta_u;
double current_v = _poly.Evaluate(current_u);
double du = current_u - last_u;
double dv = current_v - last_v;
@ -157,7 +158,6 @@ namespace element {
last_s = current_s;
last_val = current_val;
current_u += delta_u;
}
}
@ -167,7 +167,6 @@ namespace element {
auto &val1 = result.second.first;
auto &val2 = result.second.second;
double rate = (val2.s - dist) / (val2.s - val1.s);
double u = rate * val1.u + (1.0 - rate) * val2.u;
double v = rate * val1.v + (1.0 - rate) * val2.v;
@ -195,11 +194,17 @@ namespace element {
}
double param_p = 0;
double current_s = 0;
double last_u = 0;
double last_v = 0;
double last_u = _polyU.Evaluate(param_p);
double last_v = _polyV.Evaluate(param_p);
double last_s = 0;
RtreeValue last_val;
RtreeValue last_val{
last_u,
last_v,
last_s,
_polyU.Tangent(param_p),
_polyV.Tangent(param_p) };
for(size_t i = 0; i < number_intervals; ++i) {
param_p += delta_p;
double current_u = _polyU.Evaluate(param_p);
double current_v = _polyV.Evaluate(param_p);
double du = current_u - last_u;
@ -224,7 +229,6 @@ namespace element {
last_s = current_s;
last_val = current_val;
param_p += delta_p;
if(current_s > _length){
break;
}