Function SimOneAPI::GetSensorDetections

• Defined in File SimOneSensorAPI.h

Function Documentation

bool SimOneAPI::GetSensorDetections(const char *mainVehicleId, const char *sensorId, SimOne_Data_SensorDetections *pGroundtruth)

获取传感器检测到物体的对应真值，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

Retrieve Ground Truth Corresponding to Objects Detected by Sensors, including Object-Based Cameras, Object-Based LiDAR, and Perfect Sensors.

此函数用于获取仿真场景中目标级传感器感知物信息

This function is used to get the obstacle data detected by object based sensor.

参数:

• mainVehicleId -- [in]

  主车的ID

  Id of the main vehicle

• sensorId -- [in]

  目标级传感器ID

  Sensor Index

• pGroundtruth -- [out]

  目标级传感器感知消息

  Object based sensor detections

返回:

如果成功获取感知物数据，则返回true，否则返回false

Returns true if the obstacle data is successfully retrieved, false otherwise