error with traffic light

[353xiong]

data_collect.py
for npc in traffic_light.lights:
new_bbox = None
min_dis = 50
for light_bbox in traffic_light_bbox_nearby:
dis = compute_2d_distance(npc.get_transform().location, light_bbox.location)
if dis < min_dis:
new_bbox = light_bbox
min_dis = dis
if min_dis > 20:
continue
How can the matching of traffic light and traffic light box be based on the closest distance?

[jayyoung0802]

There are several issues to be aware of.

• In the official implementation of Carla, the API (light actor) can be used to obtain the bounding box (including the pole and the light). However, the pole is not necessary.
• To get the bounding box for the light only, the world.get_level_bbs API can be used but does not provide additional information, such as the light ID. Therefore, we match the closest light using the distance as a reference.