SimOneSensorAPI module

SimOneSensorAPI.SoApiSetGpsUpdateCB(cb)

主车GPS更新回调.

Register the callback func applying for GPS info

cb: GPS data update callback function

bool: Success or not

SimOneSensorAPI.SoApiSetGroundTruthUpdateCB(cb)

得到仿真场景中的物体的真值的更新回调.

Register the callback func applying for obstacle info

cb: Obstacle data update callback function

bool: Success or not

SimOneSensorAPI.SoApiSetRadarDetectionsUpdateCB(cb)

毫米波雷达目标信息回调.

Register the callback func applying for Millimeter wave radar detections

cb: Radar detections update callback function

bool: Success or not

SimOneSensorAPI.SoApiSetSensorDetectionsUpdateCB(cb)

传感器真值信息更新回调.

Register the callback func applying for GroundTruth of current sensor, support camera, lidar and perfect perception sensors

cb: Groundtruth data fetch callback function

bool: Success or not

SimOneSensorAPI.SoApiSetSensorLaneInfoCB(cb)

获取传感器检测到车道与车道线数据回调.

Register the callback func applying for LaneInfo from current sensor, support camera, and fusion sensors

cb: Groundtruth data fetch callback function

bool: Success or not

SimOneSensorAPI.SoApiSetUltrasonicRadarsCB(cb)

超生波雷达真值信息更新回调.

Register the callback func applying for ultrasonics radar detections

cb: Ultrasonics data update callback function

bool: Success or not

SimOneSensorAPI.SoGetEnvironment(pEnvironment)

获取当前环境相关信息（天气、光照、地面等）.

Get current Environment

pEnvironment: SimOne_Data_Environment data

bool: Success or not

SimOneSensorAPI.SoGetGps(mainVehicleId, gpsData)

获取主车GPS信息.

Get main vehicle GPS

dmainVehicleI: Id of the main vehicle
gpsData: GPS data

bool: Success or not

SimOneSensorAPI.SoGetGroundTruth(mainVehicleId, obstacleData)

得到仿真场景中的物体的真值.

Get Ground Truth Data of Objects(Obstacles) from simulation scene

mainVehicleId: Id of the main vehicle
obstacleData: Obstacle data

bool: Success or not

SimOneSensorAPI.SoGetRadarDetections(mainVehicleId, sensorId, detectionData)

得到毫米波雷达目标信息.

Get millimeter wave radar detections

mainVehicleId: Id of the main vehicle
sensorId: Sensor Index
detectionData: Radar detections

bool: Success or not

SimOneSensorAPI.SoGetSensorConfigurations(mainVehicleId, sensorConfigurations)

得到所有传感器的配置信息（Id、类型、频率、位置和朝向等）.

Get Sensor’s position information

mainVehicleId: Id of the main vehicle
sensorConfigurations: SensorConfigurations data

bool: Success or not

SimOneSensorAPI.SoGetSensorDetections(mainVehicleId, sensorId, sensorDetections)

获取传感器检测到物体的对应真值.

Get Ground Truth objects for current sensor, support camera, lidar and perfect perception sensors

mainVehicleId: Id of the main vehicle
sensorId: Sensor Index
sensorDetections: SimOne_Data_SensorDetections data

bool: Success or not

SimOneSensorAPI.SoGetSensorLaneInfo(mainVehicleId, sensorId, pLaneInfo)

获取传感器检测到车道与车道线数据.

Get LaneInfo for current sensor, support camera and fusion sensor

mainVehicleId: Id of the main vehicle
sensorId: Sensor Index
pLaneInfo: SimOne_Data_LaneInfo data

bool: Success or not

SimOneSensorAPI.SoGetTrafficLights(mainVehicleId, opendriveLightId, trafficLight)

得到仿真场景中的交通灯的真值.

Get traffic lights Data of Objects(light) from simulation scene

mainVehicleId: Id of the main vehicle
opendriveLightId: traffic light Id on opendrive
trafficLight: light data

bool: Success or not

SimOneSensorAPI.SoGetUltrasonicRadar(mainVehicleId, sensorId, ultrasonics)

获得一个超声波雷达信息.

Get UltrasonicRadar imformations

mainVehicleId: Id of the main vehicle
sensorId: Sensor Index
ultrasonics: ultrasonic data in SimOne_Data_UltrasonicRadar format

bool: Success or not

SimOneSensorAPI.SoGetUltrasonicRadars(mainVehicleId, ultrasonics)

获得所有超声波雷达信息.

Get UltrasonicRadars imfomations

mainVehicleId: Id of the main vehicle
ultrasonics: ultrasonics data in SimOne_Data_UltrasonicRadars format

bool: Success or not

SimOneSensorAPI.SoSetEnvironment(pEnvironment)

设置当前环境相关信息（天气、光照、地面等）.

Set Current Environment

pEnvironment: SimOne_Data_Environment data

bool: Success or not