API Reference

Sensor.create

Sensor.create(
    cam_id=0,
    config_path=None,
    mac_addr=None,
    infer_mode=None,
    rectify_size=None,
    raw_size=None,
    disable_infer=None,
    seeds=None,
    overrides=None,
    check_serial=True,
    hook_modules=None,
    disable_cache=None,
)

Parameter	Description
cam_id	Local camera index or sensor serial number
config_path	Local configuration file or directory
mac_addr	Connects to a remote sensor on a compute unit
infer_mode	Inference mode
rectify_size	Overrides the rectified image dimensions
raw_size	Overrides the raw image dimensions
disable_infer	Whether to disable the inference pipeline
seeds	Configuration merged before context construction
overrides	Final parameter overrides applied after configuration loading
check_serial	Whether to enable sensor serial-number validation
hook_modules	Extension hook modules to preload
disable_cache	Whether to disable the device-configuration cache

selectSensorInfo

rectify, depth, force = sensor.selectSensorInfo(
    Sensor.OutputType.Rectify,
    Sensor.OutputType.Depth,
    Sensor.OutputType.Force,
)

The call synchronously acquires or computes the requested data. When one output is requested, the corresponding result is returned directly; when multiple outputs are requested, they are returned as a tuple in argument order. Data acquisition or computation failures raise an exception. Request all outputs needed from the same frame in a single call to avoid repeated acquisition.

Output type	Meaning
Rectify	Rectified BGR image
Difference	Difference image against the reference
Depth	Depth map in mm
Marker2D / Marker3D	2D/3D marker positions
Marker3DFlow	3D marker displacement
Force / ForceNorm	Distributed 3D force and normal force
ForceResultant	Six-axis resultant force vector
Mesh3D	Current 3D mesh
Mesh3DFlow	3D mesh deformation
Mesh3DInit	Initial 3D mesh
TimeStamp	Sensor timestamp (seconds)

Lifecycle and helper methods

Method	Description
Sensor.scanSerialNumber()	Scan the serial-number-to-camera-ID mapping
sensor.getCameraID()	Get the current camera ID
sensor.calibrateSensor()	Refresh the reference image when unloaded
sensor.exportRuntimeConfig(save_dir, binary=False)	Export runtime_<serial>; returns bytes directly when binary=True
Sensor.createSolver(runtime_path)	Create an offline solver from a runtime
sensor.release()	Close the device and release resources
call_service(service, action, *args, **kwargs)	Call a compute-unit service

Remote calls

The underlying service name and action used by call_service are provided by the compute-unit firmware. Use EzROS to query the device and available services before calling a specific action.