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)