Skip to main content
Version: 1.0.0

Record, Export, and Replay

Record online data​

If you only need to save structured data supported by the SDK, use the recorder API:

from xensesdk import Sensor

sensor = Sensor.create("OP000064")
sensor.startSaveSensorInfo(
    "./recording",
    [Sensor.OutputType.Rectify, Sensor.OutputType.Depth],
)
try:
    for _ in range(300):
        sensor.selectSensorInfo(Sensor.OutputType.Rectify)
finally:
    sensor.stopSaveSensorInfo()
    sensor.release()

Passing None as the second argument records all output types. Check available disk space and the target frame rate before long sessions.

Export a runtime​

sensor.exportRuntimeConfig("./recording")
# creates ./recording/runtime_<sensor serial number>

The encrypted runtime contains the configuration and reference image. Do not edit it manually or commit it to a public repository.

Replay offline​

solver = Sensor.createSolver("./recording/runtime_OP000064")
try:
    depth, force = solver.selectSensorInfo(
        Sensor.OutputType.Depth,
        Sensor.OutputType.Force,
        rectify_image=rectify_image,
    )
finally:
    solver.release()

Offline mode is suitable for regression testing and algorithm tuning. For reproducible results, preserve input frame order and record the SDK, model, and configuration versions.