public static LGSVL.Detection2DArray ConvertFrom(Detected2DObjectData data)
{
return(new LGSVL.Detection2DArray()
{
header = new Header()
{
seq = data.Sequence,
stamp = Conversions.ConvertTime(data.Time),
frame_id = data.Frame,
},
detections = data.Data.Select(d => new Detection2D()
{
id = d.Id,
label = d.Label,
score = d.Score,
bbox = new BoundingBox2D()
{
x = d.Position.x,
y = d.Position.y,
width = d.Scale.x,
height = d.Scale.y
},
velocity = new Twist()
{
linear = ConvertToVector(d.LinearVelocity),
angular = ConvertToVector(d.AngularVelocity),
}
}).ToList(),
});
}
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);
}
