AirSim 目前支持一下传感器.

每类传感器都与之关联一个整型枚举值来表示传感器类型.

  • Camera
  • Barometer = 1
  • Imu = 2
  • Gps = 3
  • Magnetometer = 4
  • Distance Sensor = 5
  • Lidar = 6

注意 : 相机配置与其他传感器不一样,所以没有关联枚举值. 相机配置和 API 查看 general settings 和 image API .

默认传感器 Default sensors

如果没有在 settings.json 指定传感器, 基于 sim 模式下,下列传感器默认可用.

载具 Multirotor

  • Imu
  • Magnetometer
  • Gps
  • Barometer

车 Car

  • Gps

计算机视觉 ComputerVision

  • None

场景之后, AirSimSettings.hpp 中的 createDefaultSensorSettings 方法是用来设置上述带默认参数的传感器, 根据在 sim 模式在下 settings.json 文件设定的.

配置默认传感器列表 Configuring the default sensor list

默认传感器列表可以在 settings json 配置:

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"DefaultSensors": {
    "Barometer": {
         "SensorType": 1,
         "Enabled" : true
    },
    "Imu": {
         "SensorType": 2,
         "Enabled" : true
    },
    "Gps": {
         "SensorType": 3,
         "Enabled" : true
    },
    "Magnetometer": {
         "SensorType": 4,
         "Enabled" : true
    },
    "Distance": {
         "SensorType": 5,
         "Enabled" : true
    },
    "Lidar2": {
         "SensorType": 6,
         "Enabled" : true,
         "NumberOfChannels": 4,
         "PointsPerSecond": 10000
    }
},

配置汽车专用传感器列表 Configuring vehicle-specific sensor list

如果载具提供他自己的传感器列表, 它必须提供完整的列表. 不支持 选择性的增加/删除/更新默认传感器列表
汽车专用传感器列表可以在设置汽车的 json 部分设置.
即,

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 "Vehicles": {

     "Drone1": {
         "VehicleType": "SimpleFlight",
         "AutoCreate": true,
         ...
         "Sensors": {
             "MyLidar1": {
                 "SensorType": 6,
                 "Enabled" : true,
                 "NumberOfChannels": 16,
                 "PointsPerSecond": 10000,
                 "X": 0, "Y": 0, "Z": -1,
                 "DrawDebugPoints": true
             },
             "MyLidar2": {
                 "SensorType": 6,
                 "Enabled" : true,
                 "NumberOfChannels": 4,
                 "PointsPerSecond": 10000,
                 "X": 0, "Y": 0, "Z": -1,
                 "DrawDebugPoints": true
             }
         }
     }
}

传感器专用设置 Sensor specific settings

每种传感器类型也有它自己的设置.

以雷达专用设定为例,请查看 lidar .

传感器 APIs Sensor APIs

使用例程可直接跳转到 hello_drone.py 或 hello_drone.cpp , 或者浏览下述全部的 API.

  • Barometer

    C++

    1
    msr::airlib::BarometerBase::Output getBarometerData(const std::string& barometer_name, const std::string& vehicle_name);

    Python

    1
    barometer_data = getBarometerData(barometer_name = "", vehicle_name = "")

  • IMU

    C++

    1
    msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "");

    Python

    1
    imu_data = getImuData(imu_name = "", vehicle_name = "")

  • GPS

    C++

    1
    msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "");

    Python

    1
    gps_data = getGpsData(gps_name = "", vehicle_name = "")

  • Magnetometer

    C++

    1
    msr::airlib::MagnetometerBase::Output getMagnetometerData(const std::string& magnetometer_name = "", const std::string& vehicle_name = "");

    Python

    1
    magnetometer_data = getMagnetometerData(magnetometer_name = "", vehicle_name = "")

  • Distance sensor

    C++

    1
    msr::airlib::DistanceBase::Output getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "");

    Python

    1
    distance_sensor_name = getDistanceSensorData(distance_sensor_name = "", vehicle_name = "")

  • Lidar
    See lidar for Lidar API.