Here is my code:
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err, _, rgbImage = sim.simxGetVisionSensorImage(clientID, camRgbHandle, 0, sim.simx_opmode_oneshot_wait)
image_R = np.array([rgbImage[i] for i in range(0, len(rgbImage), 3)]).reshape(resY, resX).astype(np.uint8)
image_G = np.array([rgbImage[i] for i in range(1, len(rgbImage), 3)]).reshape(resY, resX).astype(np.uint8)
image_B = np.array([rgbImage[i] for i in range(2, len(rgbImage), 3)]).reshape(resY, resX).astype(np.uint8)
I got the handle object by the following code:
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_, camRgbHandle = sim.simxGetObjectHandle(clientID, camRgbName, sim.simx_opmode_blocking)
Thank you guys