SimOneSensorAPI module

SimOneSensorAPI. SoApiSetGpsUpdateCB ( cb )

主车GPS更新回调

Register the callback func applying for GPS info

参数 :

cb ( GPS callback function mainVehicleId ( str ) : vehicle id Data_Gps ( SimOne_Data_Gps ) : gps info ) – (cb)(mainVehicleId, Data_Gps)

SimOneSensorAPI. SoApiSetGroundTruthUpdateCB ( cb )

获取仿真场景中障碍物真值更新回调

Register the callback func applying for obstacle info

参数 :

cb ( ground truth callback function mainVehicleId ( str ) : vehicle id Data_Obstacle ( SimOne_Data_Obstacle ) : ground true info ) – cb(mainVehicleId, Data_Obstacle)

SimOneSensorAPI. SoApiSetRadarDetectionsUpdateCB ( cb )

毫米波雷达目标信息回调

Register the callback func applying for Millimeter wave radar detections

参数 :

cb ( radar detection callback function mainVehicleId ( str ) : vehicle id sensorId ( str ) : radar sensor id Data_Detections ( SimOne_Data_RadarDetection ) : radar detected obstacle ( s ) info ) – cb(mainVehicleId, sensorId, Data_Detections)

SimOneSensorAPI. SoApiSetSensorDetectionsUpdateCB ( cb )

传感器真值信息更新回调

Register the callback func applying for ground truth info by sensor(s) camera/lidar/perfect perception sensors

参数 :

cb ( sensor detections callback function mainVehicleId ( str ) : vehicle id sensorId ( str ) : sensor id Data_Groundtruth ( SimOne_Data_SensorDetections ) : sensor detected obstacle ( s ) info ) – cb(mainVehicleId, sensorId, Data_Groundtruth)

SimOneSensorAPI. SoApiSetSensorLaneInfoCB ( cb )

获取传感器探测车道消息数据回调

Register the callback func for applying lane info by sensor: objectbased-camera/fusion-sensors

参数 :

cb ( sensor detected lane info callback function mainVehicleId ( str ) : vehicle id sensorId ( str ) : sensor id Data_LaneInfo ( SimOne_Data_LaneInfo ) : sensor detected lane info ) – cb(mainVehicleId, sensorId, Data_LaneInfo)

SimOneSensorAPI. SoApiSetSensorRoadMarkInfoCB ( cb )

获取传感器检测地面喷漆信息回调: 车道停止线/地面箭头/人行横道线

Register the callback func for applying road mark by objectbased-camera sensor

参数 :

cb ( sensor detected road mark callback function mainVehicleId ( str ) : vehicle id sensorId ( str ) : sensor id Data_RoadMarkInfo ( SimOne_Data_RoadMarkInfo ) : sensor detected lane info ) – cb(mainVehicleId, sensorId, Data_RoadMarkInfo)

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

参数 :

cb ( ultrasonic radar ( s ) callback function mainVehicleId ( str ) : vehicle id Data_Detections ( SimOne_Data_UltrasonicRadars ) : all ultrasonic radars ( s ) detected obstacle ( s ) info ) – cb(mainVehicleId, Data_Ultrasonics)

SimOneSensorAPI. SoGetEnvironment ( pEnvironment )

获取当前环境相关信息: 天气/光照/地面

Get current environment info

参数 :

pEnvironment ( SimOne_Data_Environment ) – curent environment info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetGps ( mainVehicleId , gpsData )

获取主车GPS信息

Get vehicle GPS info

参数 :

  • mainVehicleId ( string ) – vehicle id

  • gpsData ( SimOne_Data_Gps ) – vehicle gps including basic chassis info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetGroundTruth ( mainVehicleId , obstacleData )

获取仿真场景中障碍物真值

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

参数 :

  • mainVehicleId ( string ) – vehicle id

  • obstacleData ( SimOne_Data_Obstacle ) – obstacle(s) ground truth info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetRadarDetections ( mainVehicleId , sensorId , detectionData )

获取毫米波雷达目标信息

Get millimeter wave radar detections

参数 :

  • mainVehicleId ( string ) – vehicle id

  • sensorId ( string ) – sensor Id

  • detectionData ( SimOne_Data_RadarDetection ) – radar detected obstacle(s) info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetSensorConfigurations ( mainVehicleId , sensorConfigurations )

获取所有传感器的配置信息: Id/类型/频率/位置/朝向

Get sensor(s) config infor

参数 :
返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetSensorDetections ( mainVehicleId , sensorId , sensorDetections )

获取传感器检测的障碍物真值

Get ground truth objects info by sensor(s) camera/lidar/perfect perception sensors

参数 :

  • mainVehicleId ( string ) – vehicle id

  • sensorId ( string ) – sensor Id

  • sensorDetections ( SimOne_Data_SensorDetections ) – sensor detected obstacles(s) info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetSensorLaneInfo ( mainVehicleId , sensorId , pLaneInfo )

获取传感器探测车道数据

Get lane info by sensor: objectbased-camera/fusion-sensor

参数 :

  • mainVehicleId ( string ) – vehicle id

  • sensorId ( string ) – sensor id

  • pLaneInfo ( SimOne_Data_LaneInfo ) – lane info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetSensorRoadMarkInfo ( mainVehicleId , sensorId , pRoadMarkInfo )

获取传感器检测地面喷漆信息: 车道停止线/地面箭头/人行横道线

Get road mark info by objectbased-camera sensor

参数 :

  • mainVehicleId ( string ) – vehicle id

  • sensorId ( string ) – sensor id

  • pRoadMarkInfo ( SimOne_Data_RoadMarkInfo ) – road mark info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetTrafficLights ( mainVehicleId , opendriveLightId , trafficLight )

获取仿真场景中的交通灯真值

Get traffic light(s) info from simulation scene

参数 :

  • mainVehicleId ( string ) – vehicle id

  • opendriveLightId ( int ) – traffic light opendrive-id

  • trafficLight ( SimOne_Data_TrafficLight ) – traffic lights(s) info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetUltrasonicRadar ( mainVehicleId , sensorId , ultrasonic )

获取一个超声波雷达信息

Get UltrasonicRadar imformations

参数 :

  • mainVehicleId ( string ) – vehicle id

  • sensorId ( string ) – ultrasonic radar sensor Id

  • ultrasonic ( SimOne_Data_UltrasonicRadar ) – ultrasonic radar detected obstacle(s) dist info

返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoGetUltrasonicRadars ( mainVehicleId , ultrasonics )

获取所有超声波雷达信息

Get all UltrasonicRadar(s) info

参数 :
返回 :

executive outcome: success/faile

返回类型 :

bool

SimOneSensorAPI. SoSetEnvironment ( pEnvironment )

设置当前环境相关信息: 天气/光照/地面

Set current environment info

参数 :

pEnvironment ( SimOne_Data_Environment ) – environment info to be set

返回 :

executive outcome: success/faile

返回类型 :

bool