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simGetVisionSensorImg
Reads the image of a vision sensor. The returned data doesn't make sense if
sim.handleVisionSensor wasn't called previously
C++ synopsis
unsigned char* simGetVisionSensorImg(int sensorHandle, int options, double rgbaCutOff,
const int* pos, const int* size, int* resolution)
Arguments
- sensorHandle: handle of the vision sensor
- options: options, bit-coded:
- bit0 set (1): the returned image will by a greyscale image (1 byte per pixel), otherwise an RGB image
- bit1 set (2): the returned image will have one additional byte per pixel, as alpha channel (RGBA or greyscale+A)
- rgbaCutOff: when an RGBA image is returned, the alpha component will be 255 for all depth values below rgbaCutOff, and 0 for all depth values above rgbaCutOff. 0 corresponds to the near clipping plane, 1 to the far clipping plane
- pos: position of the image portion to retrieve. Can be nullptr, which defaults to [0 0]
- size: size of the image 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
Return
- the image buffer or nullptr in case of an error. The user is in charge of releasing the returned buffer with simReleaseBuffer
See also:
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