vrep.py 文件源码

def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    c_buffer  = ct.POINTER(ct.c_float)()
    resolution = (ct.c_int*2)()
    ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
    reso = []
    buffer = []
    if (ret == 0):
        buffer = [None]*resolution[0]*resolution[1]
        for i in range(resolution[0] * resolution[1]):
            buffer[i] = c_buffer[i]
        for i in range(2):
            reso.append(resolution[i])
    return ret, reso, buffer