Fix pedestrian animation in semantics map (#685)

* Fix pedestrian animation in semantics map * fix bug * format
metadriverse · Mar 26, 2024 · ac0dd44 · ac0dd44
1 parent 6bf4267
commit ac0dd44
Showing 1 changed file with 21 additions and 6 deletions.
diff --git a/metadrive/component/sensors/semantic_camera.py b/metadrive/component/sensors/semantic_camera.py
@@ -37,10 +37,25 @@ def _setup_effect(self):
                     label, Terrain.make_render_state(self.engine, "terrain.vert.glsl", "terrain_semantics.frag.glsl")
                 )
             else:
-                cam.setTagState(
-                    label,
-                    RenderState.make(
-                        ShaderAttrib.makeOff(), LightAttrib.makeAllOff(), TextureAttrib.makeOff(),
-                        ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)), 1
+
+                if label == Semantics.PEDESTRIAN.label:
+                    # PZH: This is a workaround fix to make pedestrians animated.
+                    cam.setTagState(
+                        label,
+                        RenderState.make(
+                            # ShaderAttrib.makeOff(),
+                            LightAttrib.makeAllOff(),
+                            TextureAttrib.makeOff(),
+                            ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)),
+                            1
+                        )
+                    )
+
+                else:
+                    cam.setTagState(
+                        label,
+                        RenderState.make(
+                            ShaderAttrib.makeOff(), LightAttrib.makeAllOff(), TextureAttrib.makeOff(),
+                            ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)), 1
+                        )
                     )
-                )