Traffic Light Instance Segmentation ID in Large Maps

[GoodarzMehr]

Setup

• CARLA version: ue4-dev
• Platform: Ubuntu 22.04
• Python version: 3.10.12
• GPU: 2x RTX 4090s
• GPU Drivers: 580.95.05

Describe the bug
The IDs obtained from the instance segmentation camera for traffic light actors ($256\times B + G$) do not match their actor ID in large maps (Town12, Town13), unlike Town01-Town10HD, Town15.

In the image below, the ID reported by the instance segmentation camera is 6599, but the traffic lights present in the scene have the following information:

{'id': 1571, 'type': 'traffic.traffic_light', 'is_alive': True, 'is_active': True, 'is_dormant': False, 'parent': None, 'attributes': {}, 'linear_velocity': array([ 0., -0.,  0.]), 'angular_velocity': array([ 0., -0., -0.]), 'semantic_tags': [7], 'bounding_box': array([[  929.34629822, -3583.68945312,   376.07513428],
       [  929.34629822, -3583.68945312,   377.26202393],
       [  929.41847992, -3583.24090576,   376.07513428],
       [  929.41847992, -3583.24090576,   377.26202393],
       [  928.89777374, -3583.61724854,   376.07513428],
       [  928.89777374, -3583.61724854,   377.26202393],
       [  928.96995544, -3583.16870117,   376.07513428],
       [  928.96995544, -3583.16870117,   377.26202393]]), 'green_time': 26.747217178344727, 'yellow_time': 3.0, 'red_time': 2.0, 'state': 'Red', 'opendrive_id': '21588', 'pole_index': 0}
{'id': 1261, 'type': 'traffic.traffic_light', 'is_alive': True, 'is_active': True, 'is_dormant': False, 'parent': None, 'attributes': {}, 'linear_velocity': array([ 0., -0.,  0.]), 'angular_velocity': array([ 0., -0., -0.]), 'semantic_tags': [7], 'bounding_box': array([[  905.4307251 , -3694.50024414,   375.94290161],
       [  905.4307251 , -3694.50024414,   377.12979126],
       [  905.8804245 , -3694.57507324,   375.94290161],
       [  905.8804245 , -3694.57507324,   377.12979126],
       [  905.50551605, -3694.05053711,   375.94290161],
       [  905.50551605, -3694.05053711,   377.12979126],
       [  905.95521545, -3694.12536621,   375.94290161],
       [  905.95521545, -3694.12536621,   377.12979126]]), 'green_time': 10.672046661376953, 'yellow_time': 3.0, 'red_time': 2.0, 'state': 'Red', 'opendrive_id': '21587', 'pole_index': 0}
{'id': 1246, 'type': 'traffic.traffic_light', 'is_alive': True, 'is_active': True, 'is_dormant': False, 'parent': None, 'attributes': {}, 'linear_velocity': array([ 0., -0.,  0.]), 'angular_velocity': array([ 0., -0., -0.]), 'semantic_tags': [7], 'bounding_box': array([[  942.71315765, -3580.30682373,   375.97994995],
       [  942.71315765, -3580.30682373,   377.1668396 ],
       [  942.26462936, -3580.23461914,   375.97994995],
       [  942.26462936, -3580.23461914,   377.1668396 ],
       [  942.64099503, -3580.75537109,   375.97994995],
       [  942.64099503, -3580.75537109,   377.1668396 ],
       [  942.19246674, -3580.6831665 ,   375.97994995],
       [  942.19246674, -3580.6831665 ,   377.1668396 ]]), 'green_time': 18.250185012817383, 'yellow_time': 3.0, 'red_time': 2.0, 'state': 'Green', 'opendrive_id': '21589', 'pole_index': 0}
{'id': 1031, 'type': 'traffic.traffic_light', 'is_alive': True, 'is_active': True, 'is_dormant': False, 'parent': None, 'attributes': {}, 'linear_velocity': array([ 0., -0.,  0.]), 'angular_velocity': array([ 0., -0., -0.]), 'semantic_tags': [7], 'bounding_box': array([[  937.55979919, -3574.76397705,   375.97073364],
       [  937.55979919, -3574.76397705,   377.15762329],
       [  937.48761749, -3575.21252441,   375.97073364],
       [  937.48761749, -3575.21252441,   377.15762329],
       [  938.00832367, -3574.83618164,   375.97073364],
       [  938.00832367, -3574.83618164,   377.15762329],
       [  937.93614197, -3575.284729  ,   375.97073364],
       [  937.93614197, -3575.284729  ,   377.15762329]]), 'green_time': 25.212800979614258, 'yellow_time': 3.0, 'red_time': 2.0, 'state': 'Red', 'opendrive_id': '21590', 'pole_index': 0}

Also it seems like the actor_id property of every bounding box is always 0 (regardless of actor type or map).