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
gaia-platform · Oct 13, 2021 · 07b1da5 · 07b1da5
1 parent 918fef7
commit 07b1da5
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diff --git a/KomatsuSimulator/Assets/Scenes/Scenario2.unity b/KomatsuSimulator/Assets/Scenes/Scenario2.unity
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diff --git a/KomatsuSimulator/Assets/Scripts/Sensors/DetectorGroundTruthSensor.cs b/KomatsuSimulator/Assets/Scripts/Sensors/DetectorGroundTruthSensor.cs
@@ -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 =
@@ -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] =