simCheckVisionSensorEx

Checks whether the vision sensor detects the indicated entity. Detection is silent (no visual feedback) compared to sim.handleVisionSensor. The vision callback functions will be called on the acquired image. Also, the visibility state of the entity is overridden if the entity is an object

C++ synopsis

double* simCheckVisionSensorEx(int sensorHandle, int entityHandle, bool returnImage)

Arguments

• sensorHandle: handle of the vision sensor object
• entityHandle: handle of entity to detect (object or collection), or sim.handle_all to detect all detectable objects
• returnImage: specifies what should be returned. If true, the sensor's image buffer is returned, otherwise its depth buffer is returned

Return

• image or depth buffer, or nullptr in case of an error. The user is in charge of releasing the returned buffer with simReleaseBuffer