Exemple #1
0
 public static Detected2DObjectArray ConvertTo(apollo.common.Detection2DArray data)
 {
     return(new Detected2DObjectArray()
     {
         Data = data.detections.Select(obj =>
                                       new Detected2DObject()
         {
             Id = obj.id,
             Label = obj.label,
             Score = obj.score,
             Position = new Vector2(obj.bbox.x, obj.bbox.y),
             Scale = new Vector2(obj.bbox.width, obj.bbox.height),
             LinearVelocity = Convert(obj.velocity.linear),
             AngularVelocity = Convert(obj.velocity.angular),
         }).ToArray(),
     });
 }
Exemple #2
0
        public static apollo.common.Detection2DArray ConvertFrom(Detected2DObjectData data)
        {
            var r = new apollo.common.Detection2DArray()
            {
                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.Detection2D()
                {
                    header = r.header,
                    id     = obj.Id,
                    label  = obj.Label,
                    score  = obj.Score,
                    bbox   = new apollo.common.BoundingBox2D()
                    {
                        x      = obj.Position.x,
                        y      = obj.Position.y,
                        width  = obj.Scale.x,
                        height = obj.Scale.y
                    },
                    velocity = new apollo.common.Twist()
                    {
                        linear  = ConvertToVector(obj.LinearVelocity),
                        angular = ConvertToVector(obj.LinearVelocity),
                    },
                });
            }

            return(r);
        }