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Sensor fix #733

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Sensor fix #733

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4d299d5
Fixed issues with sensor initialization and added keyboard control fu…
drewbush1990 Jun 11, 2024
e2a0bab
Fixed issues with sensor initialization and added keyboard control fu…
drewbush1990 Jun 11, 2024
25a4ebb
Merge branch 'main' into sensor-fix
pengzhenghao Aug 8, 2024
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12 changes: 6 additions & 6 deletions metadrive/component/navigation_module/base_navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ def __init__(
# self.final_lane = None
# self.current_lane = None

self.vehicle_config = vehicle_config
self.vehicle_config = vehicle_config if vehicle_config is not None else {}

self._target_checkpoints_index = None
self._navi_info = np.zeros((self.get_navigation_info_dim(), ), dtype=np.float32) # navi information res
Expand All @@ -62,9 +62,13 @@ def __init__(
self.origin.setShaderAuto()
else:
self.origin = None

# Ensure navi_mark_color is defined
self.navi_mark_color = (1.0, 0.0, 0.0) # Default to red if not provided
if panda_color is not None:
assert len(panda_color) == 3 and 0 <= panda_color[0] <= 1
self.navi_mark_color = tuple(panda_color)

self.navi_arrow_dir = [0, 0]
self._dest_node_path = None
self._goal_node_path = None
Expand Down Expand Up @@ -101,7 +105,7 @@ def __init__(
self._dynamic_line_np.reparentTo(self.origin)
self._line_to_dest = line_seg

show_line_to_navi_mark = self.vehicle_config["show_line_to_navi_mark"]
show_line_to_navi_mark = self.vehicle_config.get("show_line_to_navi_mark", False)
self._show_line_to_navi_mark = show_line_to_navi_mark
if show_line_to_navi_mark:
line_seg = LineSegs("line_to_dest")
Expand All @@ -124,8 +128,6 @@ def __init__(
self.navi_mark_color[0], self.navi_mark_color[1], self.navi_mark_color[2], 0.7
)
self.origin.hide(CamMask.AllOn)
# self.origin.hide(CamMask.AllOn)
# self.origin.show(CamMask.MainCam)
self.origin.show(CamMask.MainCam)
logging.debug("Load Vehicle Module: {}".format(self.__class__.__name__))

Expand Down Expand Up @@ -184,8 +186,6 @@ def destroy(self):
for np in self._node_path_list:
np.detachNode()
np.removeNode()
# self.next_ref_lanes = None
# self.current_ref_lanes = None

def set_force_calculate_lane_index(self, force: bool):
self.FORCE_CALCULATE = force
Expand Down
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