Try drawing lane markings on junctions (fixes roundabout on Town03)

deepsense-ai · May 7, 2020 · 208f449 · 208f449
1 parent 11acef8
commit 208f449
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Showing 2 changed files with 19 additions and 18 deletions.
diff --git a/carla_birdeye_view/mask.py b/carla_birdeye_view/mask.py
@@ -226,24 +226,25 @@ def road_mask(self) -> Mask:
     def lanes_mask(self) -> Mask:
         canvas = self.make_empty_mask()
         for road_waypoints in self._each_road_waypoints:
-            if not road_waypoints[0].is_junction:
-                # Left Side
-                lanes.draw_lane_marking_single_side(
-                    canvas,
-                    road_waypoints,
-                    side=LaneSide.LEFT,
-                    location_to_pixel_func=self.location_to_pixel,
-                    color=COLOR_ON,
-                )
+            # if not road_waypoints[0].is_junction:
+            # NOTE This block was inside if statement - some junctions may not have proper lane markings drawn
+            # Left Side
+            lanes.draw_lane_marking_single_side(
+                canvas,
+                road_waypoints,
+                side=LaneSide.LEFT,
+                location_to_pixel_func=self.location_to_pixel,
+                color=COLOR_ON,
+            )
 
-                # Right Side
-                lanes.draw_lane_marking_single_side(
-                    canvas,
-                    road_waypoints,
-                    side=LaneSide.RIGHT,
-                    location_to_pixel_func=self.location_to_pixel,
-                    color=COLOR_ON,
-                )
+            # Right Side
+            lanes.draw_lane_marking_single_side(
+                canvas,
+                road_waypoints,
+                side=LaneSide.RIGHT,
+                location_to_pixel_func=self.location_to_pixel,
+                color=COLOR_ON,
+            )
         return canvas
 
     def agent_vehicle_mask(self, agent: carla.Actor) -> Mask:

diff --git a/setup.py b/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name="carla-birdeye-view",
-    version="1.0.14",
+    version="1.0.21",
     description="Bird-eye's view for CARLA simulator",
     keywords=["CARLA", "birdview", "bird-eye's view", "Reinforcement Learning", "RL"],
     long_description=README,