Function SimOneAPI::SetSensorDetectionsUpdateCB

Function Documentation

bool SimOneAPI::SetSensorDetectionsUpdateCB(void (*cb)(const char *mainVehicleId, const char *sensorId, SimOne_Data_SensorDetections *pGroundtruth))

传感器真值信息更新回调，支持的传感器包括目标级相机、目标级激光雷达、完美传感器

Registering Callback for Sensor Ground Truth Information Updates, supporting sensors such as Object-Based Cameras, Object-Based LiDAR, and Perfect Sensors.

此函数用于注册获取仿真场景中目标级传感器目标信息的回调函数.

This function is used to register a callback function for getting objects data detected by object based sensor.

参数:

cb -- [in]

获取仿真场景中目标级传感器真值的更新回调，函数签名为：

void callback(const char* mainVehicleId, const char* sensorId, SimOne_Data_SensorDetections *pGroundtruth)

  • mainVehicleId: 主车的ID / Id of the main vehicle

  • sensorId: 目标级传感器ID / Sensor Index

  • pGroundtruth: 目标级传感器感知消息 / Object based sensor detections

返回:

如果注册回调函数成功，则返回true，否则返回false

Returns true if the callback registration is successful, false otherwise.