障碍物感知 / Obstacle Perception¶

说明 / Overview

获取仿真场景中障碍物真值及目标级检测结果的接口。
Interfaces for retrieving ground truth obstacle data and target-level detection results in the simulation scene.

两种接口的区别 / Difference Between the Two Interfaces

SoGetGroundTruth 返回所有障碍物的完整真值（位置、尺寸、速度等）
Returns complete ground truth for all obstacles (position, size, velocity, etc.)
SoGetSensorDetections 返回挂载传感器视野内的目标检测结果，更贴近真实传感器输出
Returns detection results within the sensor's field of view, closer to real sensor output

`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：

名称	类型	描述	默认
`mainVehicleId`	`string`	车辆ID vehicle id	必需
`obstacleData`	`SimOne_Data_Obstacle`	障碍物真值信息 obstacle(s) ground truth info	必需

返回：

类型	描述
`bool`	executive outcome: success/faile

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：

名称	类型	描述	默认
`cb`	`ground truth callback function mainVehicleId (str): vehicle id Data_Obstacle (SimOne_Data_Obstacle): ground true info`	回调函数，格式：cb(mainVehicleId, Data_Obstacle) cb(mainVehicleId, Data_Obstacle)	必需

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：

名称	类型	描述	默认
`mainVehicleId`	`string`	车辆ID vehicle id	必需
`sensorId`	`string`	传感器ID sensor Id	必需
`sensorDetections`	`SimOne_Data_SensorDetections`	传感器检测到的障碍物信息 sensor detected obstacles(s) info	必需

返回：

类型	描述
`bool`	executive outcome: success/faile

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：

名称	类型	描述	默认
`cb`	`sensor detections callback function mainVehicleId (str): vehicle id sensorId(str): sensor id Data_Groundtruth(SimOne_Data_SensorDetections): sensor detected obstacle(s) info`	回调函数，格式：cb(mainVehicleId, sensorId, Data_Groundtruth) cb(mainVehicleId, sensorId, Data_Groundtruth)	必需