Fix for the issues 9361, 9385 and 9387

[LuisPovedaCano]

Fix for issue #9362 was already merge in @GoodarzMehr PR #9381
Currently working on fix for issues #9361 #9385 and #9387

For the issue #9361 this is the current status.
In Green the bounding box returned by '.bounding_box' in the actor.
In Blue the bounding box returned by '.trigger_volume' in the actor.
In Gray the bounding box returned by 'bounding_box' in the environment object.

This is for a new issue. The bounding boxes for the actors in large maps are different with both calls. I saw this behavior only for the Stop Signs.

Script used for testing in the 'Town12'

import time
import carla

import numpy as np

client = carla.Client('localhost', 2000)
client.set_timeout(80.0)
client.load_world('Town12')

time.sleep(3.0)

world = client.get_world()
sp = world.get_spectator()
sp.set_location(carla.Location(x=-1130, y=3930.0, z=360.0))

time.sleep(3.0)

actors = world.get_actors()
for x in actors:
    if 8 in x.semantic_tags and not x.is_dormant:
        bbox = x.bounding_box.get_world_vertices(x.get_transform())
        for y in bbox:
            world.debug.draw_point(y, size=0.2, color=carla.Color(0, 255, 0), life_time=100.0)

for x in actors:
    if 8 in x.semantic_tags and not x.is_dormant:
        bbox = x.trigger_volume.get_world_vertices(x.get_transform())
        for y in bbox:
            world.debug.draw_point(y, size=0.2, color=carla.Color(0, 0, 255), life_time=100.0)

time.sleep(1.0)

signs = world.get_environment_objects(carla.CityObjectLabel.TrafficSigns)
for obj in signs:
    bbox = obj.bounding_box.get_world_vertices(obj.transform)
    for y in bbox:
        world.debug.draw_point(y, size=0.2, color=carla.Color(255, 255, 255), life_time=100.0)

time.sleep(20.0)

Fixed the issue #9385.

Fixed the issue #9387

Script used to test these two issues.

import carla

client = carla.Client()
world = client.get_world()

# Get the ego vehicle
ego = None
for vehicle in world.get_actors().filter('vehicle.*'):
    if vehicle.attributes['role_name'] == 'hero':
        print("Ego vehicle found")
        ego = vehicle
        break

if ego is not None:
    ego_loc = ego.get_location()

world.wait_for_tick()
for i, traffic in enumerate(world.get_actors().filter("traffic*")):
    tt = traffic.get_transform()
    if ego is not None and tt.location.distance(ego_loc) > 100:
        continue

    bb = traffic.bounding_box
    bb.location = tt.transform(bb.location)
    bb.rotation = carla.Rotation(roll=bb.rotation.roll, pitch=bb.rotation.pitch, yaw=bb.rotation.yaw + tt.rotation.yaw)
    world.debug.draw_box(bb, bb.rotation, color=carla.Color(0,255,0),life_time=60)

    tv = traffic.trigger_volume
    tv.location = tt.transform(tv.location)
    tv.rotation = carla.Rotation(roll=tv.rotation.roll, pitch=tv.rotation.pitch, yaw=tv.rotation.yaw + tt.rotation.yaw)
    world.debug.draw_box(tv, tv.rotation, color=carla.Color(0,0,255), life_time=60)

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[glopezdiest]

@glopezdiest reviewed 2 of 2 files at r1, all commit messages.
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[glopezdiest]

@glopezdiest reviewed 12 of 12 files at r2, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Blyron)