障碍物感知 Obstacle Perception

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GetGroundTruth

bool GetGroundTruth(const char *mainVehicleId, SimOne_Data_Obstacle *pObstacle)

得到仿真场景中的物体的真值.
Get Ground Truth Data of Objects(Obstacles) from simulation scene.

参数:

名称	类型	说明
mainVehicleId	const char *	主车的ID Id of the main vehicle
pObstacle	SimOne_Data_Obstacle *	物体真值消息 Obstacle data

返回值:

类型	说明
bool	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

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SetGroundTruthUpdateCB

bool SetGroundTruthUpdateCB(void(*cb)(const char *mainVehicleId, SimOne_Data_Obstacle *pObstacle))

注册仿真场景中物体真值的更新回调.
Register callback function of applying for objects' ground truth.

参数:

名称	类型	说明
cb	void(*)(const char *mainVehicleId, SimOne_Data_Obstacle *pObstacle)	获取仿真场景中物体真值的更新回调 Obstacle ground truth data update callback function

返回值:

类型	说明
bool	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.

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GetSensorDetections

bool 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.

参数:

名称	类型	说明
mainVehicleId	const char *	主车的ID Id of the main vehicle
sensorId	const char *	目标级传感器ID Sensor Index
pGroundtruth	SimOne_Data_SensorDetections *	目标级传感器感知消息 Object based sensor detections

返回值:

类型	说明
bool	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

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SetSensorDetectionsUpdateCB

bool 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.

参数:

名称	类型	说明
cb	void(*)(const char *mainVehicleId, const char *sensorId, SimOne_Data_SensorDetections *pGroundtruth)	获取仿真场景中目标级传感器真值的更新回调 Object based sensor detection data update callback function

返回值:

类型	说明
bool	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.

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