selectSensorInfo Method

Sensor.selectSensorInfo(*args)

Retrieves sensor data of specified types, with the quantity and order matching the input parameters.

Parameters:: args (Sensor.OutputType) – Any number of Sensor.OutputType enums specifying the data types to retrieve. 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=(26,14,2)
`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=(26,14,2)

Returns:: Requested sensor data with quantity and order matching input parameters.
Return type:: Corresponding np.ndarray or None (when data is unavailable)

Note

If you need to retrieve multiple types of data simultaneously, use a single function call as shown in the example. This ensures all data comes from the same frame and optimizes calculation speed.

Example Code

from xensesdk import Sensor

# Create sensor instance
sensor = Sensor.create('OP000064')

# Retrieve specified types of sensor data
rectify, depth, force = sensor.selectSensorInfo(
    Sensor.OutputType.Rectify,
    Sensor.OutputType.Depth,
    Sensor.OutputType.Force
)

# Output data shapes (example)
print("Rectified image shape:", rectify.shape)       # (700, 400, 3)
print("Depth image shape:", depth.shape)             # (700, 400)
print("3D force distribution shape:", force.shape)   # (35, 20, 3)

# Release resources
sensor.release()