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simGetVisionSensorDepth
Reads the depth buffer of a vision sensor. The returned data doesn't make sense if
sim.handleVisionSensor wasn't called previously
C++ synopsis
float* simGetVisionSensorDepth(int sensorHandle, int options, const int* pos, const int* size,
int* resolution)
Arguments
- 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 0.0 - 1.0 (0.0 = closest to sensor (i.e. close clipping plane), 1.0 = 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
Return
- the depth 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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