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Remove truck controls, set obj id and class id (#70)
* Removed retro_log * Removed the retro log dir * Fixed texture leak in sim * Remove truck controls, set obj id and class id
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‎KomatsuSimulator/Assets/Scenes/Scenario2.unity‎

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‎KomatsuSimulator/Assets/Scripts/Sensors/DetectorGroundTruthSensor.cs‎

Lines changed: 12 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,16 @@ private RosMessageTypes.BuiltinInterfaces.TimeMsg GetRosTime()
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return new RosMessageTypes.BuiltinInterfaces.TimeMsg((int)span.TotalSeconds, (uint)(span.Ticks * 100));
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}
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44+
private string RemoveParenNumber(string nameIn)
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{
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var li = nameIn.LastIndexOf('(');
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if(0 > li)
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return nameIn;
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return nameIn.Substring(0,li).Trim();
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}
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public RosMessageTypes.Vision.Detection3DArrayMsg FindAllObjects(string tagName)
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{
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RosMessageTypes.Vision.Detection3DArrayMsg detectedObjectArray =
@@ -111,11 +121,12 @@ public RosMessageTypes.Vision.Detection3DArrayMsg FindAllObjects(string tagName)
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detectedObjectArray.detections[index].header = new RosMessageTypes.Std.HeaderMsg(rosTime, rosFrame);
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detectedObjectArray.detections[index].bbox = new RosMessageTypes.Vision.BoundingBox3DMsg(center, size);
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detectedObjectArray.detections[index].results = new RosMessageTypes.Vision.ObjectHypothesisWithPoseMsg[1];
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detectedObjectArray.detections[index].id = go.name;
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//*** TODO : game object name is not correct here. We want an object type, like 'person' or 'truck'. Maybe we
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//*** can use a tag for this.
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var hyp = new RosMessageTypes.Vision.ObjectHypothesisMsg(go.name, 1.0);
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var hyp = new RosMessageTypes.Vision.ObjectHypothesisMsg(RemoveParenNumber(go.name), 1.0);
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var pwc = new RosMessageTypes.Geometry.PoseWithCovarianceMsg(center, covariance);
120131

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detectedObjectArray.detections[index].results[0] =

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