sim.createVisionSensor

Synopsis

int sensorHandle = sim.createVisionSensor(int options, list intParams, list floatParams) int sensorHandle = sim.createVisionSensor(int options, int[4] intParams, float[11] floatParams)

Arguments

options: bit-coded options:
- bit 0 set (1): sensor will be explicitly handled
- bit 1 set (2): sensor will be in perspective operation mode
- bit 2 set (4): view frustum will not be shown
- bit 3 set (8): reserved. Set to 0
- bit 4 set (16): sensor will be passive (use an external image)
- bit 5 set (32): sensor will use local lights
- bit 6 set (64): sensor will not render any fog
- bit 7 set (128): sensor will use a specific color for default background (i.e. null pixels)
intParams: 4 integer parameters (indexing (i) starts from 0 for Python and 1 for Lua):
- intParams[i+0]: sensor resolution x
- intParams[i+1]: sensor resolution y
- intParams[i+2]: reserved. Set to 0
- intParams[i+3]: reserved. Set to 0
floatParams: 11 floating point parameters (indexing (i) starts from 0 for Python and 1 for Lua):
- floatParams[i+0]: near clipping plane
- floatParams[i+1]: far clipping plane
- floatParams[i+2]: view angle / ortho view size
- floatParams[i+3]: sensor size x
- floatParams[i+4]: reserved. Set to 0.0
- floatParams[i+5]: reserved. Set to 0.0
- floatParams[i+6]: null pixel red-value
- floatParams[i+7]: null pixel green-value
- floatParams[i+8]: null pixel blue-value
- floatParams[i+9]: reserved. Set to 0.0
- floatParams[i+10]: reserved. Set to 0.0

Return values

sensorHandle: handle of the force sensor