def as_simulator_bounding_box(self):
"""Retrieves the bounding box as instance of a simulator bounding box.
Returns:
A instance of a simulator class that represents the bounding box.
"""
from carla import BoundingBox
bb_loc = self.transform.location.as_simulator_location()
bb_extent = self.extent.as_simulator_vector()
return BoundingBox(bb_loc, bb_extent)
def draw_trigger_volume(world, actor):
"""Draws the trigger volume of an actor.
Args:
world: A handle to the world running inside the simulation.
actor: A simulator actor.
"""
from carla import BoundingBox
transform = actor.get_transform()
tv = transform.transform(actor.trigger_volume.location)
bbox = BoundingBox(tv, actor.trigger_volume.extent)
world.debug.draw_box(bbox, transform.rotation, life_time=1000)
def _draw_trigger_volume(self, world, tl_actor):
transform = tl_actor.get_transform()
tv = transform.transform(tl_actor.trigger_volume.location)
bbox = BoundingBox(tv, tl_actor.trigger_volume.extent)
tl_state = tl_actor.get_state()
if tl_state in TL_STATE_TO_PIXEL_COLOR:
r, g, b = TL_STATE_TO_PIXEL_COLOR[tl_state]
bbox_color = Color(r, g, b)
else:
bbox_color = Color(0, 0, 0)
bbox_life_time = \
(1 / self._flags.simulator_fps + TL_BBOX_LIFETIME_BUFFER)
world.debug.draw_box(bbox,
transform.rotation,
thickness=0.5,
color=bbox_color,
life_time=bbox_life_time)