private void PublishGroundTruth(List <Ros.Detection3D> detectedObjects)
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
if (Time.time < nextSend)
{
return;
}
if (detectedObjects == null)
{
return;
}
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO)
{
var detectedObjectArrayMsg = new Ros.Detection3DArray()
{
detections = detectedObjects,
};
Bridge.Publish(objects3DTopicName, detectedObjectArrayMsg);
nextSend = Time.time + 1.0f / frequency;
}
}
private void PublishGroundTruth(List <Ros.Detection3D> detectedObjects)
{
if (Bridge == null || Bridge.Status != Comm.BridgeStatus.Connected)
{
return;
}
if (Time.time < nextSend)
{
return;
}
if (detectedObjects == null)
{
return;
}
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO || targetEnv == ROSTargetEnvironment.LGSVL)
{
var detectedObjectArrayMsg = new Ros.Detection3DArray()
{
header = new Ros.Header()
{
stamp = Ros.Time.Now(),
},
detections = detectedObjects,
};
DetectedObjectArrayWriter.Publish(detectedObjectArrayMsg);
nextSend = Time.time + 1.0f / frequency;
}
}
private void PublishGroundTruth(List <Ros.Detection3D> detectedObjects)
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
var detectedObjectArrayMsg = new Ros.Detection3DArray()
{
detections = detectedObjects,
};
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO)
{
Bridge.Publish(objects3DTopicName, detectedObjectArrayMsg);
}
}
private void PublishGroundTruth()
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
detectedObjects.Clear();
detectedObjects = lidarDetectedColliders.Values.ToList();
var detectedObjectArrayMsg = new Ros.Detection3DArray()
{
detections = detectedObjects,
};
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO)
{
Bridge.Publish(objects3DTopicName, detectedObjectArrayMsg);
Debug.Log("Ground Truth Data Published");
}
}
private void PublishGroundTruth(List <Ros.Detection3D> detectedObjects)
{
if (Bridge == null || Bridge.Status != Comm.BridgeStatus.Connected)
{
return;
}
if (Time.time < nextSend)
{
return;
}
if (detectedObjects == null)
{
return;
}
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO || targetEnv == ROSTargetEnvironment.LGSVL)
{
var detectedObjectArrayMsg = new Ros.Detection3DArray()
{
header = new Ros.Header()
{
stamp = Ros.Time.Now(),
},
detections = detectedObjects,
};
DetectedObjectArrayWriter.Publish(detectedObjectArrayMsg);
nextSend = Time.time + 1.0f / frequency;
}
if (targetEnv == ROSTargetEnvironment.APOLLO35)
{
Apollo.Common.Detection3DArray cyberDetectionObjectArray = new Apollo.Common.Detection3DArray();
foreach (Ros.Detection3D rosDetection3D in detectedObjects)
{
Apollo.Common.Detection3D cyberDetection3D = new Apollo.Common.Detection3D()
{
Header = new Apollo.Common.Header()
{
SequenceNum = rosDetection3D.header.seq,
FrameId = rosDetection3D.header.frame_id,
TimestampSec = (double)rosDetection3D.header.stamp.secs,
},
Id = rosDetection3D.id,
Label = rosDetection3D.label,
Score = rosDetection3D.score,
Bbox = new Apollo.Common.BoundingBox3D()
{
Position = new Apollo.Common.Pose()
{
Position = new Apollo.Common.Point3D()
{
X = rosDetection3D.bbox.position.position.x,
Y = rosDetection3D.bbox.position.position.y,
Z = rosDetection3D.bbox.position.position.z,
},
Orientation = new Apollo.Common.Quaternion()
{
Qx = rosDetection3D.bbox.position.orientation.x,
Qy = rosDetection3D.bbox.position.orientation.y,
Qz = rosDetection3D.bbox.position.orientation.z,
Qw = rosDetection3D.bbox.position.orientation.w,
},
},
Size = new Apollo.Common.Vector3()
{
X = rosDetection3D.bbox.size.x,
Y = rosDetection3D.bbox.size.y,
Z = rosDetection3D.bbox.size.z,
},
},
Velocity = new Apollo.Common.Twist()
{
Linear = new Apollo.Common.Vector3()
{
X = rosDetection3D.velocity.linear.x,
Y = rosDetection3D.velocity.linear.y,
Z = rosDetection3D.velocity.linear.z,
},
Angular = new Apollo.Common.Vector3()
{
X = rosDetection3D.velocity.angular.x,
Y = rosDetection3D.velocity.angular.y,
Z = rosDetection3D.velocity.angular.z,
},
},
};
cyberDetectionObjectArray.Detections.Add(cyberDetection3D);
System.DateTime Unixepoch = new System.DateTime(1970, 1, 1, 0, 0, 0, System.DateTimeKind.Utc);
double measurement_time = (double)(System.DateTime.UtcNow - Unixepoch).TotalSeconds;
cyberDetectionObjectArray.Header = new Apollo.Common.Header()
{
TimestampSec = measurement_time,
};
Apollo35DetectedObjectArrayWriter.Publish(cyberDetectionObjectArray);
nextSend = Time.time + 1.0f / frequency;
}
}
}
