StreamingAPI: Physical-Level Sensor Streaming

StreamingAPI provides a streaming interface for Physical-level Sensor data, designed for Scenarios that require real-time processing of raw Sensor output — such as visual algorithm validation based on Camera Images, or perception algorithm testing based on Point Cloud data.

Unlike standard data APIs (e.g., GetObstacleList), StreamingAPI directly outputs raw frame data from physical Sensors. It features high data volume and high update frequency, does not rely on the frame sync mechanism, and is better suited for latency-sensitive real-time streaming Scenarios.

Prerequisites

Note

Before using StreamingAPI, you must attach the corresponding type of Physical-level Sensor (Camera or LiDAR) to the Ego Vehicle in the SimOne Scenario configuration. If no Sensor is attached, calls to the related APIs will return empty data.

Supported Data Formats

Data Type	Supported Formats
Image	RGB, JPEG, Segmentation (semantic segmentation), H.265
Point Cloud	SimOne_Streaming_Point_Cloud (SimOne custom format)

API Quick Reference

For detailed parameter descriptions, refer to the C++ API Reference.

Name	Event	C++ API	Python API
Physical-level Sensor Streaming	Retrieve Image data in real time (Image formats include RGB/JPEG/Segmentation/H.265, etc.)	GetStreamingImage	SoGetStreamingImage
	Set a real-time Image data update callback (Image formats include RGB/JPEG/Segmentation/H.265, etc.)	SetStreamingImageUpdateCB	SoApiSetStreamingImageUpdateCB
	Retrieve Point Cloud data in SimOne_Streaming_Point_Cloud format in real time	GetStreamingPointCloud	SoGetStreamingPointCloud
	Set a Point Cloud data update callback	SetStreamingPointCloudUpdateCB	SoApiSetStreamingPointCloudUpdateCB