vrep.py 文件源码

def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    resolution = (ct.c_int*2)()
    c_image  = ct.POINTER(ct.c_byte)()
    bytesPerPixel = 3
    if (options and 1) != 0:
        bytesPerPixel = 1
    ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)

    reso = []
    image = []
    if (ret == 0):
        image = [None]*resolution[0]*resolution[1]*bytesPerPixel
        for i in range(resolution[0] * resolution[1] * bytesPerPixel):
            image[i] = c_image[i]
        for i in range(2):
            reso.append(resolution[i])
    return ret, reso, image