public static LGSVL.SignalArray ConvertFrom(SignalDataArray data)
{
return(new LGSVL.SignalArray()
{
header = new Header()
{
seq = data.Sequence,
stamp = Conversions.ConvertTime(data.Time),
frame_id = data.Frame,
},
signals = data.Data.Select(d => new Signal()
{
id = d.Id,
label = d.Label,
score = d.Score,
bbox = new BoundingBox3D()
{
position = new Pose()
{
position = ConvertToPoint(d.Position),
orientation = Convert(d.Rotation),
},
size = ConvertToVector(d.Scale),
}
}).ToList(),
});
}
public static Lgsvl.SignalArray ConvertFrom(SignalDataArray data)
{
return(new Lgsvl.SignalArray()
{
header = new Ros.Header()
{
stamp = Convert(data.Time),
frame_id = data.Frame,
},
signals = data.Data.Select(d => new Lgsvl.Signal()
{
id = d.SeqId,
label = d.Label,
score = (float)d.Score,
bbox = new Lgsvl.BoundingBox3D()
{
position = new Ros.Pose()
{
position = ConvertToPoint(d.Position),
orientation = Convert(d.Rotation),
},
size = ConvertToVector(d.Scale),
}
}).ToList(),
});
}
private void OnSignalDataReceived(IntPtr devicePtr, ChannelInfo info, SignalDataArray dataArray, IntPtr userData)
{
if (DevicePtr != devicePtr)
{
return;
}
var data = new NativeArrayMarshaler <double>().MarshalArray(dataArray.DoubleArray, dataArray.SamplesCount);
free_SignalDataArray(dataArray);
SignalChannelDataReceived?.Invoke(this, new SignalChannelData(data, info, dataArray.FirstSampleCount));
}
public static Apollo.Perception.TrafficLightDetection ApolloConvertFrom(SignalDataArray data)
{
bool contain_lights = false;
if (data.Data.Length > 0)
{
contain_lights = true;
}
var signals = new Apollo.Perception.TrafficLightDetection()
{
header = new Apollo.Header()
{
timestamp_sec = data.Time,
sequence_num = data.Sequence,
camera_timestamp = (ulong)(data.Time * 1e9),
},
contain_lights = contain_lights,
traffic_light = new List <Apollo.Perception.TrafficLight>(),
};
foreach (SignalData d in data.Data)
{
var color = Apollo.Perception.Color.BLACK;
if (d.Label == "green")
{
color = Apollo.Perception.Color.GREEN;
}
else if (d.Label == "yellow")
{
color = Apollo.Perception.Color.YELLOW;
}
else if (d.Label == "red")
{
color = Apollo.Perception.Color.RED;
}
signals.traffic_light.Add
(
new Apollo.Perception.TrafficLight()
{
color = color,
id = d.Id,
confidence = 1.0,
}
);
}
return(signals);
}
public static apollo.perception.TrafficLightDetection ConvertFrom(SignalDataArray data)
{
bool contain_lights = false;
if (data.Data.Length > 0)
{
contain_lights = true;
}
var signals = new apollo.perception.TrafficLightDetection()
{
header = new apollo.common.Header()
{
timestamp_sec = data.Time,
sequence_num = data.Sequence,
camera_timestamp = (ulong)(data.Time * 1e9),
},
contain_lights = contain_lights,
};
foreach (SignalData d in data.Data)
{
var color = apollo.perception.TrafficLight.Color.Black;
if (d.Label == "green")
{
color = apollo.perception.TrafficLight.Color.Green;
}
else if (d.Label == "yellow")
{
color = apollo.perception.TrafficLight.Color.Yellow;
}
else if (d.Label == "red")
{
color = apollo.perception.TrafficLight.Color.Red;
}
signals.traffic_light.Add
(
new apollo.perception.TrafficLight()
{
color = color,
id = d.Id,
confidence = 1.0,
blink = false,
}
);
}
return(signals);
}
private static extern void free_SignalDataArray(SignalDataArray signalArray);
