Regular API function
simGetVisionSensorDepth / sim.getVisionSensorDepth
Description
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Reads the depth buffer of a vision sensor. The returned data doesn't make sense if sim.handleVisionSensor wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). See also other vision sensor related API functions
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C/C++ synopsis
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simFloat* simGetVisionSensorDepth(simInt sensorHandle,simInt options,const simInt* pos,const simInt* size,simInt* resolution)
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C/C++ parameters |
sensorHandle: handle of the vision sensor
options: options, bit-coded:
bit0 set (1): the returned values indicate distances in meters, otherwise return values are in the range of 0-1 (0=closest to sensor (i.e. close clipping plane), 1=farthest from sensor (i.e. far clipping plane))
pos: position of the depth buffer portion to retrieve. Can be nullptr, which defaults to {0,0}
size: size of the depth buffer portion to retrieve. Can be nullptr, which defaults to {0,0}, which corresponds to {resolutionX,resolutionY}
resolution: the returned vision sensor resolution. Can be nullptr
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C/C++ return value
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the depth buffer or nullptr in case of an error. The user is in charge of releasing the returned buffer with simReleaseBuffer
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Lua synopsis
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buffer depth,int[2] resolution=sim.getVisionSensorDepth(int sensorHandle,int options=0,int[2] pos={0,0},int[2] size={0,0}) |
Lua parameters |
sensorHandle: handle of the vision sensor
options: options, bit-coded:
bit0 set (1): the returned values indicate distances in meters, otherwise return values are in the range of 0-1 (0=closest to sensor (i.e. close clipping plane), 1=farthest from sensor (i.e. far clipping plane))
pos: position of the depth buffer portion to retrieve. Defaults to {0,0}
size: size of the depth buffer portion to retrieve. Defaults to {0,0}, which corresponds to {resolutionX,resolutionY}
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Lua return values
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Python synopsis |
bytes depth=sim.getVisionSensorDepth(int sensorHandle,int options=0,list pos=[0,0],list size=[0,0]) |
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