Draws a junction bounding box and the initial and final waypoint of every lane.
(debug, junction, l_time=10)
| 62 | debug.draw_string(w_loc + carla.Location(z=-.5), str(w.lane_change), False, red, lt) |
| 63 | |
| 64 | def draw_junction(debug, junction, l_time=10): |
| 65 | """Draws a junction bounding box and the initial and final waypoint of every lane.""" |
| 66 | # draw bounding box |
| 67 | box = junction.bounding_box |
| 68 | point1 = box.location + carla.Location(x=box.extent.x, y=box.extent.y, z=2) |
| 69 | point2 = box.location + carla.Location(x=-box.extent.x, y=box.extent.y, z=2) |
| 70 | point3 = box.location + carla.Location(x=-box.extent.x, y=-box.extent.y, z=2) |
| 71 | point4 = box.location + carla.Location(x=box.extent.x, y=-box.extent.y, z=2) |
| 72 | debug.draw_line( |
| 73 | point1, point2, |
| 74 | thickness=0.1, color=orange, life_time=l_time, persistent_lines=False) |
| 75 | debug.draw_line( |
| 76 | point2, point3, |
| 77 | thickness=0.1, color=orange, life_time=l_time, persistent_lines=False) |
| 78 | debug.draw_line( |
| 79 | point3, point4, |
| 80 | thickness=0.1, color=orange, life_time=l_time, persistent_lines=False) |
| 81 | debug.draw_line( |
| 82 | point4, point1, |
| 83 | thickness=0.1, color=orange, life_time=l_time, persistent_lines=False) |
| 84 | # draw junction pairs (begin-end) of every lane |
| 85 | junction_w = junction.get_waypoints(carla.LaneType.Any) |
| 86 | for pair_w in junction_w: |
| 87 | draw_transform(debug, pair_w[0].transform, orange, l_time) |
| 88 | debug.draw_point( |
| 89 | pair_w[0].transform.location + carla.Location(z=0.75), 0.1, orange, l_time, False) |
| 90 | draw_transform(debug, pair_w[1].transform, orange, l_time) |
| 91 | debug.draw_point( |
| 92 | pair_w[1].transform.location + carla.Location(z=0.75), 0.1, orange, l_time, False) |
| 93 | debug.draw_line( |
| 94 | pair_w[0].transform.location + carla.Location(z=0.75), |
| 95 | pair_w[1].transform.location + carla.Location(z=0.75), 0.1, white, l_time, False) |
| 96 | |
| 97 | def main(): |
| 98 | argparser = argparse.ArgumentParser() |
no test coverage detected