public void AddDataVisualization(string dateType)
{
if (dateType == "pointcloud2")
{
GameObject createdObject = CreateGameObject.PointCloud2("PointCloud2", "/", true);
// Focus and Select Created Object
IRuntimeEditor editor = IOC.Resolve <IRuntimeEditor>();
editor.Selection.activeGameObject = createdObject;
Debug.Log($"New {createdObject} added");
}
else if (dateType == "boundingboxes")
{
GameObject createdObject = CreateGameObject.BoudingBoxes("BoundingBoxes", "/", true);
// Focus and Select Created Object
IRuntimeEditor editor = IOC.Resolve <IRuntimeEditor>();
editor.Selection.activeGameObject = createdObject;
Debug.Log($"New {createdObject} added");
}
else if (dateType == "trajectory")
{
GameObject createdObject = CreateGameObject.Trajectory("Trajectory", "/");
IRuntimeEditor editor = IOC.Resolve <IRuntimeEditor>();
editor.Selection.activeGameObject = createdObject;
Debug.Log($"New {createdObject.name} added");
}
else if (dateType == "socialdistance")
{
}
else if (dateType == "heatmap")
{
}
}
public void AutoLoadFromROS()
{
Debug.Log("AutoLoadFromROS");
// Devices
RosConnection rosConnection = rosGameObject.GetComponent <RosConnection>();
string[] DeviceNames = rosConnection.GetDeviceNames();
RosTransformManager rosTransformManager = rosGameObject.GetComponent <RosTransformManager>();
foreach (string name in DeviceNames)
{
GameObject newDevice = CreateGameObject.DeviceWithPointCloud("Hokuyo3D", name);
rosTransformManager.RequestGetParams(newDevice.name);
}
// Bounding Boxes
CreateGameObject.BoudingBoxes("Human BoundingBoxes", "/tracked_humans", false);
// Point Cloud
Color red = new Color(0.0f, 1.0f, 0.0f, 0.7f);
GameObject front = CreateGameObject.PointCloud2("Front Point Cloud", "/front", false, true, red);
// SubscribePointCloud2 subscribe_front = front.GetComponent<SubscribePointCloud2>();
// subscribe_front.Enabled = true;
Color blue = new Color(0.1f, 0.2f, 1.0f, 0.5f);
GameObject background = CreateGameObject.PointCloud2("Background Point Cloud", "/background", false, true, blue);
// SubscribePointCloud2 subscribe_background = background.GetComponent<SubscribePointCloud2>();
// subscribe_background.Enabled = true;
CreateGameObject.PointCloud2("Raw Point Cloud", "/point_cloud2", false);
}
static public GameObject DeviceWithPointCloud(string deviceType)
{
GameObject newDevice = Device(deviceType);
string defaultTopic = "/";
GameObject frontPointCloud = CreateGameObject.PointCloud2("Front Point Cloud", defaultTopic, false);
GameObject backgroundPointCloud = CreateGameObject.PointCloud2("Background Point Cloud", defaultTopic, false);
GameObject rawPointCloud = CreateGameObject.PointCloud2("Raw Point Cloud", defaultTopic, false);
frontPointCloud.transform.SetParent(newDevice.transform);
backgroundPointCloud.transform.SetParent(newDevice.transform);
rawPointCloud.transform.SetParent(newDevice.transform);
return(newDevice);
}
static public GameObject DeviceWithPointCloud(string deviceType, string deviceName)
{
GameObject newDevice = Device(deviceType);
newDevice.name = deviceName;
string frontTopic = $"/lidars/{deviceName}/front";
string backgroundTopic = $"/lidars/{deviceName}/background";
string rawTopic = $"/lidars/{deviceName}/point_cloud2";
GameObject frontPointCloud = CreateGameObject.PointCloud2("Front Point Cloud", frontTopic, false);
GameObject backgroundPointCloud = CreateGameObject.PointCloud2("Background Point Cloud", backgroundTopic, false);
GameObject rawPointCloud = CreateGameObject.PointCloud2("Raw Point Cloud", rawTopic, false);
frontPointCloud.transform.SetParent(newDevice.transform);
backgroundPointCloud.transform.SetParent(newDevice.transform);
rawPointCloud.transform.SetParent(newDevice.transform);
return(newDevice);
}