Regular API function


Description Handles (performs sensing, etc. of) a registered vision sensor object. Calling this function from one thread, then later from another thread is not recommended and might slow down the simulation. See also simReadVisionSensor, simCheckVisionSensor, simCheckVisionSensorEx and simResetVisionSensor.
C synopsis simInt simHandleVisionSensor(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount)
C parameters
visionSensorHandle: handle of a vision sensor object or sim_handle_all or sim_handle_all_except_explicit. (sim_handle_all will handle all vision sensor objects, while sim_handle_all_except_explicit will only handle those that are not marked as "explicit handling")
auxValues: auxiliary values returned from the applied filters (refer to the documentation for details). By default V-REP returns one packet of 15 auxiliary values:the minimum of {intensity, red, green, blue, depth value}, the maximum of {intensity, red, green, blue, depth value}, and the average of {intensity, red, green, blue, depth value}. If additional filter components return values, then they will be appended as packets to the first packet. AuxValues can be NULL. The user is in charge of releasing the auxValues buffer with simReleaseBuffer(*auxValues). If visionSensorHandle is sim_handle_all or sim_handle_all_except_explicit, nothing is returned in auxValues.
auxValuesCount: contains information about the number of auxiliary value packets and packet sizes returned in auxValues. The first value is the number of packets, the second is the size of packet1, the third is the size of packet2, etc. Can be NULL if auxValues is also NULL. The user is in charge of releasing the auxValuesCount buffer with simReleaseBuffer(*auxValuesCount).

float* auxValues=NULL;
int* auxValuesCount=NULL;
float averageColor[3]={0.0f,0.0f,0.0f};
if (simHandleVisionSensor(visionSensorHandle,&auxValues,&auxValuesCount)>=0)
    if ((auxValuesCount[0]>0)||(auxValuesCount[1]>=15))
C return value
number of detections (number of vision sensors that triggered a detection), -1 in case of an error
Lua synopsis number detectionCount,table auxiliaryValuePacket1,table auxiliaryValuePacket2, etc.=simHandleVisionSensor(number visionSensorHandle)
Lua parameters
Same as C-function
Lua return values
detectionCount: number of detections (number of vision sensors that triggered a detection), -1 in case of an error
auxiliaryValuePacket1: default auxiliary value packet (same as for the C-function)
auxiliaryValuePacket2: additional auxiliary value packet (e.g. from a filter component)
auxiliaryValuePacket3: etc. (the function returns as many tables as there are auxiliary value packets)

All regular API functions on one page