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VTSensor()

Constructor | VTSensor Sensor Class

📖 Method Description​

Instantiate the VTSensor class for operating the Vitai vision-based tactile sensor. This class provides core functionality for sensor initialization, data acquisition, and image processing.

📝 Syntax​

from pyvitaisdk import VTSensor, VTSensorType

sensor = VTSensor(
    config=None,
    force_model_path=None,
    marker_size=[9, 9],
    marker_offsets=None,
    sensor_type=None
)

🔧 Parameters​

ParameterTypeDefaultDescription
configVTSDeviceConfig | NoneNoneDevice configuration object obtained through VTSDeviceFinder.
Set to None for offline data processing
force_model_pathstr | NoneNonePath to a 6-axis force model .
Must be provided explicitly when requesting VTSDataType.FORCE6D_VECTOR
marker_sizeint | List[int][9, 9]Number of Marker point rows and columns
Can be an integer (square) or a list with 2 elements [rows, cols]
marker_offsetsList[int] | NoneNoneMarker display boundary offset parameters
List with 4 elements: [top, bottom, left, right]
sensor_typeVTSensorType | NoneNoneSensor type, must be specified for offline processing

📤 Return Type​

VTSensor - VTSensor sensor instance object

💡 Example Code​

Online Data Acquisition (Real-time Sensor)​

from pyvitaisdk import VTSensor, VTSDeviceFinder

# Get device
finder = VTSDeviceFinder()
devices = finder.get_devices()

if devices:
    # Create sensor instance with default parameters
    sensor = VTSensor(devices[0])
    print("VTSensor sensor initialized (default configuration)")
    
    # Or use custom parameters
    # sensor = VTSensor(
    #     config=devices[0],
    #     force_model_path="path/to/force_model.onnx",
    #     marker_size=[10, 10],
    #     marker_offsets=[5, 5, 5, 5]
    # )
    # print("VTSensor sensor initialized (custom configuration)")

    sensor.release() # Release resources
else:
    print("No devices found")

Offline Data Processing​

from pyvitaisdk import VTSensor, VTSensorType

# Initialize in offline mode
sensor = VTSensor(
    config=None,  # Offline mode
    marker_size=[9, 9],
    sensor_type=VTSensorType.GF225
)
print("VTSensor sensor initialized (offline processing mode)")
sensor.release()  # Release resources

⚠️ Notes​

Device Configuration
  • Online Mode: config parameter must be a valid VTSDeviceConfig object
  • Offline Mode: Set config parameter to None for processing saved image data, and specify sensor_type
  • Offline Images: Both calibrate(calib_image=...) and collect_sensor_data(frame=...) must receive raw sensor images. Do not warp them before passing them to the SDK
6-Axis Force Model
  • force_model_path may be omitted when VTSDataType.FORCE6D_VECTOR is not requested
  • When requesting VTSDataType.FORCE6D_VECTOR, an explicit valid model path is required; otherwise ForceModelPathRequiredError (error code 9006) is raised
Marker Configuration Recommendations
  • marker_size: Configure according to the actual Marker point matrix on the sensor surface
  • marker_offsets: Used to adjust visualization boundaries

🔗 Related Methods​