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Remove truck controls, set obj id and class id #70

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Oct 13, 2021
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Remove truck controls, set obj id and class id #70

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79a89b4
Removed retro_log
telemething Oct 13, 2021
7f2c7d7
Removed the retro log dir
telemething Oct 13, 2021
2fbfa0e
Fixed texture leak in sim
telemething Oct 13, 2021
d1eb4f5
Remove truck controls, set obj id and class id
telemething Oct 13, 2021
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102 changes: 55 additions & 47 deletions KomatsuSimulator/Assets/Scenes/Scenario2.unity
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Original file line number Diff line number Diff line change
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Expand Down Expand Up @@ -1690,111 +1698,111 @@ PrefabInstance:
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Expand Down Expand Up @@ -3526,7 +3534,7 @@ MonoBehaviour:
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Expand Down
13 changes: 12 additions & 1 deletion KomatsuSimulator/Assets/Scripts/Sensors/DetectorGroundTruthSensor.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,16 @@ private RosMessageTypes.BuiltinInterfaces.TimeMsg GetRosTime()
return new RosMessageTypes.BuiltinInterfaces.TimeMsg((int)span.TotalSeconds, (uint)(span.Ticks * 100));
}

private string RemoveParenNumber(string nameIn)
{
var li = nameIn.LastIndexOf('(');

if(0 > li)
return nameIn;

return nameIn.Substring(0,li).Trim();
}

public RosMessageTypes.Vision.Detection3DArrayMsg FindAllObjects(string tagName)
{
RosMessageTypes.Vision.Detection3DArrayMsg detectedObjectArray =
Expand Down Expand Up @@ -111,11 +121,12 @@ public RosMessageTypes.Vision.Detection3DArrayMsg FindAllObjects(string tagName)
detectedObjectArray.detections[index].header = new RosMessageTypes.Std.HeaderMsg(rosTime, rosFrame);
detectedObjectArray.detections[index].bbox = new RosMessageTypes.Vision.BoundingBox3DMsg(center, size);
detectedObjectArray.detections[index].results = new RosMessageTypes.Vision.ObjectHypothesisWithPoseMsg[1];
detectedObjectArray.detections[index].id = go.name;

//*** TODO : game object name is not correct here. We want an object type, like 'person' or 'truck'. Maybe we
//*** can use a tag for this.

var hyp = new RosMessageTypes.Vision.ObjectHypothesisMsg(go.name, 1.0);
var hyp = new RosMessageTypes.Vision.ObjectHypothesisMsg(RemoveParenNumber(go.name), 1.0);
var pwc = new RosMessageTypes.Geometry.PoseWithCovarianceMsg(center, covariance);

detectedObjectArray.detections[index].results[0] =
Expand Down
21 changes: 8 additions & 13 deletions KomatsuSimulator/Assets/Scripts/Sensors/ImagePublisher.cs
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ public class ImagePublisher : MonoBehaviour

//private MessageTypes.Sensor.CompressedImage message;
private Texture2D texture2D;
private Texture2D texture2DFlipped;
private Rect rect;
private const int isBigEndian = 1;
private const int step = 3;
Expand All @@ -27,7 +28,7 @@ public class ImagePublisher : MonoBehaviour
/// Arg original: incoming texture
/// Returns: void
//*************************************************************************
public static void FlipTextureVerticallyInplace(Texture2D original)
public void FlipTextureVerticallyInplace(Texture2D original)
{
var originalPixels = original.GetPixels();

Expand All @@ -53,25 +54,18 @@ public static void FlipTextureVerticallyInplace(Texture2D original)
/// Arg original: incoming texture
/// Returns: Flipped texture
//*************************************************************************
public static Texture2D FlipTextureVertically(Texture2D original)
public Texture2D FlipTextureVertically(Texture2D original)
{
Texture2D flipped = new Texture2D(
original.width, original.height, original.format, false);

int xN = original.width;
int yN = original.height;

for (int i = 0; i < xN; i++)
{
for (int j = 0; j < yN; j++)
{
flipped.SetPixel(i, yN - j - 1, original.GetPixel(i, j));
}
}
texture2DFlipped.SetPixel(i, yN - j - 1, original.GetPixel(i, j));

flipped.Apply();
texture2DFlipped.Apply();

return flipped;
return texture2DFlipped;
}

//************************************************************************
Expand Down Expand Up @@ -105,6 +99,7 @@ private void InitializeGameObject()
{
ImageCamera.enabled = true;
texture2D = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false);
texture2DFlipped = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false);
rect = new Rect(0, 0, resolutionWidth, resolutionHeight);
ImageCamera.targetTexture = new RenderTexture(resolutionWidth, resolutionHeight, 24);
}
Expand All @@ -121,7 +116,7 @@ private void InitializeMessage()

//************************************************************************
/// Description: Update message, send to ROS
/// Returns: void
/// Returns: void
//*************************************************************************
public IEnumerator UpdateMessage()
{
Expand Down
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