def draw_on_world(self, world): from carla import Color for marking in self.left_markings: world.debug.draw_point(marking.as_simulator_location(), size=0.1, color=Color(255, 255, 0)) for marking in self.right_markings: world.debug.draw_point(marking.as_simulator_location(), size=0.1, color=Color(255, 255, 0))
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)