Python ctypes 模块，c_float() 实例源码

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

    detectionState = ct.c_ubyte()
    auxValues      = ct.POINTER(ct.c_float)()
    auxValuesCount = ct.POINTER(ct.c_int)()
    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)

    auxValues2 = []
    if ret == 0:
        s = 0
        for i in range(auxValuesCount[0]):
            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
            s += auxValuesCount[i+1]

        #free C buffers
        c_ReleaseBuffer(auxValues)
        c_ReleaseBuffer(auxValuesCount)

    return ret, bool(detectionState.value!=0), auxValues2

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

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

    detectionState = ct.c_ubyte()
    detectedObjectHandle = ct.c_int()
    detectedPoint  = (ct.c_float*3)()
    detectedSurfaceNormalVector = (ct.c_float*3)()
    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(detectedPoint[i])
    arr2 = []
    for i in range(3):
        arr2.append(detectedSurfaceNormalVector[i])
    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2

def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    consoleHandle = ct.c_int()
    if (sys.version_info[0] == 3) and (type(title) is str):
        title=title.encode('utf-8')
    if position != None:
        c_position = (ct.c_int*2)(*position)
    else:
        c_position = None
    if size != None:
        c_size = (ct.c_int*2)(*size)
    else:
        c_size = None
    if textColor != None:
        c_textColor = (ct.c_float*3)(*textColor)
    else:
        c_textColor = None
    if backgroundColor != None:
        c_backgroundColor = (ct.c_float*3)(*backgroundColor)
    else:
        c_backgroundColor = None
    return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value

def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    if titleColors != None:
        c_titleColors  = (ct.c_float*6)(*titleColors)
    else:
        c_titleColors  = None
    if dialogColors != None:
        c_dialogColors  = (ct.c_float*6)(*dialogColors)
    else:
        c_dialogColors  = None

    c_dialogHandle = ct.c_int()
    c_uiHandle = ct.c_int()
    if sys.version_info[0] == 3:
        if type(titleText) is str:
            titleText=titleText.encode('utf-8')
        if type(mainText) is str:
            mainText=mainText.encode('utf-8')
        if type(initialText) is str:
            initialText=initialText.encode('utf-8')
    return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value

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

    detectionState = ct.c_ubyte()
    auxValues      = ct.POINTER(ct.c_float)()
    auxValuesCount = ct.POINTER(ct.c_int)()
    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)

    auxValues2 = []
    if ret == 0:
        s = 0
        for i in range(auxValuesCount[0]):
            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
            s += auxValuesCount[i+1]

        #free C buffers
        c_ReleaseBuffer(auxValues)
        c_ReleaseBuffer(auxValuesCount)

    return ret, bool(detectionState.value!=0), auxValues2

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

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

    detectionState = ct.c_ubyte()
    detectedObjectHandle = ct.c_int()
    detectedPoint  = (ct.c_float*3)()
    detectedSurfaceNormalVector = (ct.c_float*3)()
    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(detectedPoint[i])
    arr2 = []
    for i in range(3):
        arr2.append(detectedSurfaceNormalVector[i])
    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2

def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    consoleHandle = ct.c_int()
    if (sys.version_info[0] == 3) and (type(title) is str):
        title=title.encode('utf-8')
    if position != None:
        c_position = (ct.c_int*2)(*position)
    else:
        c_position = None
    if size != None:
        c_size = (ct.c_int*2)(*size)
    else:
        c_size = None
    if textColor != None:
        c_textColor = (ct.c_float*3)(*textColor)
    else:
        c_textColor = None
    if backgroundColor != None:
        c_backgroundColor = (ct.c_float*3)(*backgroundColor)
    else:
        c_backgroundColor = None
    return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value

def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    if titleColors != None:
        c_titleColors  = (ct.c_float*6)(*titleColors)
    else:
        c_titleColors  = None
    if dialogColors != None:
        c_dialogColors  = (ct.c_float*6)(*dialogColors)
    else:
        c_dialogColors  = None

    c_dialogHandle = ct.c_int()
    c_uiHandle = ct.c_int()
    if sys.version_info[0] == 3:
        if type(titleText) is str:
            titleText=titleText.encode('utf-8')
        if type(mainText) is str:
            mainText=mainText.encode('utf-8')
        if type(initialText) is str:
            initialText=initialText.encode('utf-8')
    return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value

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

    signalValue = ct.c_float()
    if (sys.version_info[0] == 3) and (type(signalName) is str):
        signalName=signalName.encode('utf-8')
    return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value

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

    detectionState = ct.c_ubyte()
    auxValues      = ct.POINTER(ct.c_float)()
    auxValuesCount = ct.POINTER(ct.c_int)()
    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)

    auxValues2 = []
    if ret == 0:
        s = 0
        for i in range(auxValuesCount[0]):
            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
            s += auxValuesCount[i+1]

        #free C buffers
        c_ReleaseBuffer(auxValues)
        c_ReleaseBuffer(auxValuesCount)

    return ret, bool(detectionState.value!=0), auxValues2

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

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

    detectionState = ct.c_ubyte()
    detectedObjectHandle = ct.c_int()
    detectedPoint  = (ct.c_float*3)()
    detectedSurfaceNormalVector = (ct.c_float*3)()
    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(detectedPoint[i])
    arr2 = []
    for i in range(3):
        arr2.append(detectedSurfaceNormalVector[i])
    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2

def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    consoleHandle = ct.c_int()
    if (sys.version_info[0] == 3) and (type(title) is str):
        title=title.encode('utf-8')
    if position != None:
        c_position = (ct.c_int*2)(*position)
    else:
        c_position = None
    if size != None:
        c_size = (ct.c_int*2)(*size)
    else:
        c_size = None
    if textColor != None:
        c_textColor = (ct.c_float*3)(*textColor)
    else:
        c_textColor = None
    if backgroundColor != None:
        c_backgroundColor = (ct.c_float*3)(*backgroundColor)
    else:
        c_backgroundColor = None
    return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value

def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    if titleColors != None:
        c_titleColors  = (ct.c_float*6)(*titleColors)
    else:
        c_titleColors  = None
    if dialogColors != None:
        c_dialogColors  = (ct.c_float*6)(*dialogColors)
    else:
        c_dialogColors  = None

    c_dialogHandle = ct.c_int()
    c_uiHandle = ct.c_int()
    if sys.version_info[0] == 3:
        if type(titleText) is str:
            titleText=titleText.encode('utf-8')
        if type(mainText) is str:
            mainText=mainText.encode('utf-8')
        if type(initialText) is str:
            initialText=initialText.encode('utf-8')
    return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value

def _get_projection_matrix(window_size, view_position, view_zoom,
                           view_aperture, initial_view_aperture_x):
    """Retrieve the projection matrix."""
    scale = 2.0 * view_zoom / initial_view_aperture_x
    return (ctypes.c_float * 16)(
        scale,
        0.0,
        0.0,
        0.0,

        0.0,
        scale * window_size.x / window_size.y,
        0.0,
        0.0,

        0.0,
        0.0,
        1.0,
        0.0,

        -2.0 * view_position.x / view_aperture.x,
        -2.0 * view_position.y / view_aperture.y,
        0.0,
        1.0)

def make_array(shape=(1,), dtype=np.float32, shared=False, fill_val=None):  
    np_type_to_ctype = {np.float32: ctypes.c_float,
                        np.float64: ctypes.c_double,
                        np.bool: ctypes.c_bool,
                        np.uint8: ctypes.c_ubyte,
                        np.uint64: ctypes.c_ulonglong}

    if not shared:
        np_arr = np.empty(shape, dtype=dtype)
    else:
        numel = np.prod(shape)
        arr_ctypes = sharedctypes.RawArray(np_type_to_ctype[dtype], numel)
        np_arr = np.frombuffer(arr_ctypes, dtype=dtype, count=numel)
        np_arr.shape = shape

    if not fill_val is None:
        np_arr[...] = fill_val

    return np_arr

def simxGetJointPosition(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    position = ct.c_float()
    return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value

def simxGetJointMatrix(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    matrix = (ct.c_float*12)()
    ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
    arr = []
    for i in range(12):
        arr.append(matrix[i])
    return ret, arr

def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    matrix = (ct.c_float*12)(*matrix)
    return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)

def simxJointGetForce(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    force = ct.c_float()
    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value

def simxGetJointForce(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    force = ct.c_float()
    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value

def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    eulerAngles = (ct.c_float*3)()
    ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
    arr = []
    for i in range(3):
        arr.append(eulerAngles[i])
    return ret, arr

def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    angles = (ct.c_float*3)(*eulerAngles)
    return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)

def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    c_position = (ct.c_float*3)(*position)
    return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)

def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    paramValues = (ct.c_float*3)()
    ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
    arr = []
    for i in range(3):
        arr.append(paramValues[i])
    return ret, arr

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

    c_paramValues = (ct.c_float*3)(*paramValues)
    return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)

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

    paramValue = ct.c_float()
    return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value

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

    signalValue = ct.c_float()
    if (sys.version_info[0] == 3) and (type(signalName) is str):
        signalName=signalName.encode('utf-8')
    return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value

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

    parameterValue = ct.c_float()
    return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value

def simxGetObjectVelocity(clientID, objectHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    linearVel  = (ct.c_float*3)()
    angularVel = (ct.c_float*3)()
    ret = c_GetObjectVelocity(clientID, objectHandle, linearVel, angularVel, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(linearVel[i])
    arr2 = []
    for i in range(3):
        arr2.append(angularVel[i])
    return ret, arr1, arr2

def uniform_matrixf(self, name, mat):
        # obtian the uniform location
        loc = glGetUniformLocation(self.handle, name)
        # uplaod the 4x4 floating point matrix
        glUniformMatrix4fv(loc, 1, False, (c_float * 16)(*mat))

def simxGetJointPosition(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    position = ct.c_float()
    return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value

def simxGetJointMatrix(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    matrix = (ct.c_float*12)()
    ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
    arr = []
    for i in range(12):
        arr.append(matrix[i])
    return ret, arr

def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    matrix = (ct.c_float*12)(*matrix)
    return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)

def simxJointGetForce(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    force = ct.c_float()
    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value

def simxGetJointForce(clientID, jointHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    force = ct.c_float()
    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value

def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    eulerAngles = (ct.c_float*3)()
    ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
    arr = []
    for i in range(3):
        arr.append(eulerAngles[i])
    return ret, arr

def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    angles = (ct.c_float*3)(*eulerAngles)
    return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)

def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    c_position = (ct.c_float*3)(*position)
    return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)

def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''
    paramValues = (ct.c_float*3)()
    ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
    arr = []
    for i in range(3):
        arr.append(paramValues[i])
    return ret, arr

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

    c_paramValues = (ct.c_float*3)(*paramValues)
    return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)

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

    paramValue = ct.c_float()
    return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value

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

    parameterValue = ct.c_float()
    return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value

def get_speed(self):
        return self.device.get_property(c_api.ONI_DEVICE_PROPERTY_PLAYBACK_SPEED, ctypes.c_float)

def get_horizontal_fov(self):
        return self.get_property(c_api.ONI_STREAM_PROPERTY_HORIZONTAL_FOV, ctypes.c_float).value

def get_vertical_fov(self):
        return self.get_property(c_api.ONI_STREAM_PROPERTY_VERTICAL_FOV, ctypes.c_float).value

def convert_world_to_depth(depthStream, worldX, worldY, worldZ):
    """const VideoStream& depthStream, float worldX, float worldY, float worldZ"""
    out_depthX = ctypes.c_float()
    out_depthY = ctypes.c_float()
    out_depthZ = ctypes.c_float()
    c_api.oniCoordinateConverterWorldToDepth(depthStream._handle, worldX, worldY, worldZ,
        ctypes.byref(out_depthX), ctypes.byref(out_depthY), ctypes.byref(out_depthZ))
    return out_depthX.value, out_depthY.value, out_depthZ.value

def convert_depth_to_world(depthStream, depthX, depthY, depthZ):
    """const VideoStream& depthStream, float depthX, float depthY, float depthZ, float* pWorldX, float* pWorldY, float* pWorldZ"""
    out_depthX = ctypes.c_float()
    out_depthY = ctypes.c_float()
    out_depthZ = ctypes.c_float()
    c_api.oniCoordinateConverterDepthToWorld(depthStream._handle, depthX, depthY, depthZ,
        ctypes.byref(out_depthX), ctypes.byref(out_depthY), ctypes.byref(out_depthZ))
    return out_depthX.value, out_depthY.value, out_depthZ.value