selectSensorInfo Method

Sensor.selectSensorInfo(*args)

Obtain specified types of sensor data; the number and order of returns are consistent with the input parameters.

Parameters:: args (Sensor.OutputType) – Any number of Sensor.OutputType enums, used to specify the types of data to obtain. The supported enum values and corresponding data are as follows:

Supported Data Types and Descriptions
Enum Value	Data Type	Description
`Sensor.OutputType.Rectify`	Optional[np.ndarray]	Rectified image, shape=(700, 400, 3), BGR format
`Sensor.OutputType.Difference`	Optional[np.ndarray]	Difference image, shape=(700, 400, 3), BGR format
`Sensor.OutputType.Depth`	Optional[np.ndarray]	Depth image, shape=(700, 400), unit in millimeters (mm)
`Sensor.OutputType.Force`	Optional[np.ndarray]	3D force distribution, shape=(35, 20, 3)
`Sensor.OutputType.ForceNorm`	Optional[np.ndarray]	Normal force component, shape=(35, 20, 3)
`Sensor.OutputType.ForceResultant`	Optional[np.ndarray]	6-dimensional resultant force, shape=(6,)
`Sensor.OutputType.Marker2D`	Optional[np.ndarray]	Tangential displacement, shape=(35, 20, 2)
`Sensor.OutputType.Mesh3D`	Optional[np.ndarray]	Current frame 3D mesh, shape=(35, 20, 3)
`Sensor.OutputType.Mesh3DInit`	Optional[np.ndarray]	Initial 3D mesh, shape=(35, 20, 3)
`Sensor.OutputType.Mesh3DFlow`	Optional[np.ndarray]	Mesh deformation vector, shape=(35, 20, 3)
`Sensor.OutputType.TimeStamp`	Optional[np.ndarray]	Sensor timestamp, shape=(35, 20, 3)

Returns:: The requested sensor data; the number and order of returns are consistent with the input parameters.
Return type:: np.ndarray or None corresponding to the input parameters (when data is not obtained)

Note

If you need to obtain multiple types of data at the same time, use a single function call in the form shown in the routine. This ensures all data comes from the same frame and the calculation speed is optimized.

Example Code

from xensesdk import Sensor

# 创建传感器实例
sensor = Sensor.create('OP000064')

# 获取指定类型的传感器数据
rectify, depth, force = sensor.selectSensorInfo(
    Sensor.OutputType.Rectify,
    Sensor.OutputType.Depth,
    Sensor.OutputType.Force
)

# 输出数据形状（示例）
print("校正图像形状:", rectify.shape)       # (700, 400, 3)
print("深度图像形状:", depth.shape)         # (700, 400)
print("三维力分布形状:", force.shape)       # (35, 20, 3)

# 释放资源
sensor.release()