private void PublishGroundTruth(List <Ros.Detection2D> 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.Detection2DArray()
{
header = new Ros.Header()
{
stamp = Ros.Time.Now(),
},
detections = detectedObjects,
};
Bridge.Publish(objects2DTopicName, detectedObjectArrayMsg);
nextSend = Time.time + 1.0f / frequency;
}
}
private void PublishGroundTruth(List <Ros.Detection2D> detectedObjects)
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
var detectedObjectArrayMsg = new Ros.Detection2DArray()
{
detections = detectedObjects,
};
// if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO) {
// Bridge.Publish(objects2DTopicName, detectedObjectArrayMsg);
// }
Debug.Log("Publish");
}
private void PublishGroundTruth(List <Ros.Detection2D> 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.Detection2DArray()
{
header = new Ros.Header()
{
stamp = Ros.Time.Now(),
},
detections = detectedObjects,
};
DectectedObjectArrayWriter.Publish(detectedObjectArrayMsg);
nextSend = Time.time + 1.0f / frequency;
}
if (targetEnv == ROSTargetEnvironment.APOLLO35)
{
Apollo.Common.Detection2DArray cyberDetectionObjectArray = new Apollo.Common.Detection2DArray();
foreach (Ros.Detection2D rosDetection2D in detectedObjects)
{
Apollo.Common.Detection2D cyberDetection2D = new Apollo.Common.Detection2D()
{
Header = new Apollo.Common.Header()
{
SequenceNum = rosDetection2D.header.seq,
FrameId = rosDetection2D.header.frame_id,
TimestampSec = (double)rosDetection2D.header.stamp.secs,
},
Id = rosDetection2D.id,
Label = rosDetection2D.label,
Score = rosDetection2D.score,
Bbox = new Apollo.Common.BoundingBox2D()
{
X = rosDetection2D.bbox.x,
Y = rosDetection2D.bbox.y,
Height = rosDetection2D.bbox.height,
Width = rosDetection2D.bbox.width,
},
Velocity = new Apollo.Common.Twist()
{
Linear = new Apollo.Common.Vector3()
{
X = rosDetection2D.velocity.linear.x,
Y = rosDetection2D.velocity.linear.y,
Z = rosDetection2D.velocity.linear.z,
},
Angular = new Apollo.Common.Vector3()
{
X = rosDetection2D.velocity.angular.x,
Y = rosDetection2D.velocity.angular.y,
Z = rosDetection2D.velocity.angular.z,
},
},
};
cyberDetectionObjectArray.Detections.Add(cyberDetection2D);
}
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;
}
}
