SimOneSensorAPI module

SimOneSensorAPI.SoGetGps(mainVehicleId, gpsData)[源代码]

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.SoApiSetGpsUpdateCB(cb)[源代码]

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.SoGetGroundTruth(mainVehicleId, obstacleData)[源代码]

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.SoApiSetGroundTruthUpdateCB(cb)[源代码]

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.SoGetRadarDetections(mainVehicleId, sensorId, detectionData)[源代码]

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.SoApiSetRadarDetectionsUpdateCB(cb)[源代码]

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.SoGetUltrasonicRadar(mainVehicleId, sensorId, ultrasonic)[源代码]

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)[源代码]

获取所有超声波雷达信息

Get all UltrasonicRadar(s) info

参数:

mainVehicleId (string) -- vehicle id
ultrasonics (SimOne_Data_UltrasonicRadars) -- all ultrasonic radar(s) detected obstacle(s) dist info

返回:

executive outcome: success/faile

返回类型:

bool

SimOneSensorAPI.SoApiSetUltrasonicRadarsCB(cb)[源代码]

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.SoGetSensorDetections(mainVehicleId, sensorId, sensorDetections)[源代码]

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.SoApiSetSensorDetectionsUpdateCB(cb)[源代码]

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.SoGetSensorConfigurations(mainVehicleId, sensorConfigurations)[源代码]

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:

mainVehicleId (string) -- vehicle id
sensorConfigurations (SimOne_Data_SensorConfigurations) -- all sensor(s) config info

返回:

executive outcome: success/faile

返回类型:

bool

SimOneSensorAPI.SoGetEnvironment(pEnvironment)[源代码]

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.SoSetEnvironment(pEnvironment)[源代码]

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

SimOneSensorAPI.SoGetTrafficLights(mainVehicleId, opendriveLightId, trafficLight)[源代码]

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.SoGetSensorLaneInfo(mainVehicleId, sensorId, pLaneInfo)[源代码]

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.SoApiSetSensorLaneInfoCB(cb)[源代码]

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.SoGetSensorRoadMarkInfo(mainVehicleId, sensorId, pRoadMarkInfo)[源代码]

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.SoApiSetSensorRoadMarkInfoCB(cb)[源代码]

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)