public static Detected3DObjectArray ConvertTo(apollo.common.Detection3DArray data)
{
return(new Detected3DObjectArray()
{
Data = data.detections.Select(obj =>
new Detected3DObject()
{
Id = obj.id,
Label = obj.label,
Score = obj.score,
Position = Convert(obj.bbox.position.position),
Rotation = Convert(obj.bbox.position.orientation),
Scale = Convert(obj.bbox.size),
LinearVelocity = Convert(obj.velocity.linear),
AngularVelocity = Convert(obj.velocity.angular),
}).ToArray(),
});
}
public static apollo.common.Detection3DArray ConvertFrom(Detected3DObjectData data)
{
var r = new apollo.common.Detection3DArray()
{
header = new apollo.common.Header()
{
sequence_num = data.Sequence,
frame_id = data.Frame,
timestamp_sec = data.Time,
},
};
foreach (var obj in data.Data)
{
r.detections.Add(new apollo.common.Detection3D()
{
header = r.header,
id = obj.Id,
label = obj.Label,
score = obj.Score,
bbox = new apollo.common.BoundingBox3D()
{
position = new apollo.common.Pose()
{
position = ConvertToPoint(obj.Position),
orientation = Convert(obj.Rotation),
},
size = ConvertToVector(obj.Scale),
},
velocity = new apollo.common.Twist()
{
linear = ConvertToVector(obj.LinearVelocity),
angular = ConvertToVector(obj.LinearVelocity),
},
});
}
return(r);
}
