Provides management of robot system sensor data, including camera, IMU, LiDAR, etc.

Interface Definition

SensorController is responsible for robot sensor data management, including camera, IMU, LiDAR, etc.

SensorController — Sensor Controller

Item	Description
Class Name	SensorController
Overview	Robot sensor data management, including camera, IMU, LiDAR, etc.
Main Functions	Sensor switch control, data subscription, multimodal perception
Use Cases	Environmental perception, navigation and localization, status monitoring

initialize

Item	Description
Method Name	initialize
Method Declaration	bool initialize()
Overview	Initialize the sensor controller.
Return Value	true for success, false for failure.
Note	Must be called before first use.

shutdown

Item	Description
Method Name	shutdown
Method Declaration	void shutdown()
Overview	Shut down the sensor controller.
Note	Used together with initialize.

open_channel_switch

Item	Description
Method Name	open_channel_switch
Method Declaration	Status open_channel_switch()
Overview	Open the topic switch.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

close_channel_switch

Item	Description
Method Name	close_channel_switch
Method Declaration	Status close_channel_switch()
Overview	Close the topic switch.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with open function.

open_laser_scan

Item	Description
Method Name	open_laser_scan
Method Declaration	Status open_laser_scan()
Overview	Open the LiDAR.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

close_laser_scan

Item	Description
Method Name	close_laser_scan
Method Declaration	Status close_laser_scan()
Overview	Close the LiDAR.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with open function.

open_rgbd_camera

Item	Description
Method Name	open_rgbd_camera
Method Declaration	Status open_rgbd_camera()
Overview	Open the RGBD camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

close_rgbd_camera

Item	Description
Method Name	close_rgbd_camera
Method Declaration	Status close_rgbd_camera()
Overview	Close the RGBD camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with open function.

open_binocular_camera

Item	Description
Method Name	open_binocular_camera
Method Declaration	Status open_binocular_camera()
Overview	Open the binocular camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

close_binocular_camera

Item	Description
Method Name	close_binocular_camera
Method Declaration	Status close_binocular_camera()
Overview	Close the binocular camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with open function.

subscribe_imu

Item	Description
Method Name	subscribe_imu
Method Declaration	void subscribe_imu(callback)
Overview	Subscribe to IMU data.
Parameter Description	callback: Callback function to receive IMU data. Function signature: callback(data : Imu) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_tof

Item	Description
Method Name	subscribe_tof
Method Declaration	void subscribe_tof(callback)
Overview	Subscribe to TOF data.
Parameter Description	callback: Callback function to receive TOF data.
Note	Non-blocking interface, data received asynchronously via callback. Function signature: callback(data : Float32MultiArray) -> None

subscribe_ultra

Item	Description
Method Name	subscribe_ultra
Method Declaration	void subscribe_ultra(callback)
Overview	Subscribe to ultrasonic data.
Parameter Description	callback: Callback function to receive ultrasonic data. Function signature: callback(data : Float32MultiArray) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_head_touch

Item	Description
Method Name	subscribe_head_touch
Method Declaration	void subscribe_head_touch(callback)
Overview	Subscribe to head touch data.
Parameter Description	callback: Callback function to receive head touch data. Function signature: callback(data : HeadTouch) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_laser_scan

Item	Description
Method Name	subscribe_laser_scan
Method Declaration	void subscribe_laser_scan(callback)
Overview	Subscribe to LiDAR data.
Parameter Description	callback: Callback function to receive LiDAR data. Function signature: callback(data : LaserScan) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_rgb_depth_camera_info

Item	Description
Method Name	subscribe_rgb_depth_camera_info
Method Declaration	void subscribe_rgb_depth_camera_info(callback)
Overview	Subscribe to RGBD depth camera intrinsic data.
Parameter Description	callback: Callback function to receive camera intrinsic data. Function signature: callback(data : CameraInfo) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_rgbd_depth_image

Item	Description
Method Name	subscribe_rgbd_depth_image
Method Declaration	void subscribe_rgbd_depth_image(callback)
Overview	Subscribe to RGBD depth image data.
Parameter Description	callback: Callback function to receive depth image data. Function signature: callback(data : Image) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_rgbd_color_camera_info

Item	Description
Method Name	subscribe_rgbd_color_camera_info
Method Declaration	void subscribe_rgbd_color_camera_info(callback)
Overview	Subscribe to RGBD color image intrinsic data.
Parameter Description	callback: Callback function to receive camera intrinsic data. Function signature: callback(data : CameraInfo) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_rgbd_color_image

Item	Description
Method Name	subscribe_rgbd_color_image
Method Declaration	void subscribe_rgbd_color_image(callback)
Overview	Subscribe to RGBD color image data.
Parameter Description	callback: Callback function to receive color image data. Function signature: callback(data : Image) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_left_binocular_high_img

Item	Description
Method Name	subscribe_left_binocular_high_img
Method Declaration	void subscribe_left_binocular_high_img(callback)
Overview	Subscribe to left high-quality binocular data.
Parameter Description	callback: Callback function to receive left high-quality binocular data. Function signature: callback(data : CompressedImage) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_left_binocular_low_img

Item	Description
Method Name	subscribe_left_binocular_low_img
Method Declaration	void subscribe_left_binocular_low_img(callback)
Overview	Subscribe to left low-quality binocular data.
Parameter Description	callback: Callback function to receive left low-quality binocular data. Function signature: callback(data : CompressedImage) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_right_binocular_low_img

Item	Description
Method Name	subscribe_right_binocular_low_img
Method Declaration	void subscribe_right_binocular_low_img(callback)
Overview	Subscribe to right low-quality binocular data.
Parameter Description	callback: Callback function to receive right low-quality binocular data. Function signature: callback(data : CompressedImage) -> None
Note	Non-blocking interface, data received asynchronously via callback.

subscribe_depth_image

Item	Description
Method Name	subscribe_depth_image
Method Declaration	void subscribe_depth_image(callback)
Overview	Subscribe to depth image data.
Parameter Description	callback: Callback function to receive depth image data. Function signature: callback(data : Image) -> None
Note	Non-blocking interface, data received asynchronously via callback.

Data Structure Definitions

Uint8Vector — Unsigned 8-bit Integer Vector

Item	Description
Type	Python binding of std::vector<uint8_t>
Overview	Dynamic array for storing unsigned 8-bit integers, commonly used for raw byte data
Main Methods	Supports standard Python list operations: indexing, slicing, iteration, length query, etc.
Use Cases	Image data, audio data, binary data storage

PointFieldVector — Point Cloud Field Vector

Item	Description
Type	Python binding of std::vector<magic::dog::PointField>
Overview	Dynamic array for storing point cloud field descriptions, used to define point cloud data structure
Main Methods	Supports standard Python list operations, each element is a PointField struct
Use Cases	Point cloud data processing, 3D sensor data parsing

MultiArrayDimensionVector — Multi-dimensional Array Dimension Vector

Item	Description
Type	Python binding of std::vector<magic::dog::MultiArrayDimension>
Overview	Dynamic array for storing multi-dimensional array dimension information, used to describe array shape and layout
Main Methods	Supports standard Python list operations, each element is a MultiArrayDimension struct
Use Cases	Multi-dimensional sensor data, matrix data processing

FloatVector — Float Vector

Item	Description
Type	Python binding of std::vector<float>
Overview	Dynamic array for storing single-precision floats, used for high-precision numerical computation
Main Methods	Supports standard Python list operations, supports float arithmetic
Use Cases	Sensor data, coordinate data, physical quantity data

DoubleVector — Double Precision Float Vector

Item	Description
Type	Python binding of std::vector<double>
Overview	Dynamic array for storing double-precision floats, provides highest precision numerical computation
Main Methods	Supports standard Python list operations, supports high-precision float arithmetic
Use Cases	High-precision sensor data, scientific computation, coordinate transformation

Double3Array — 3D Double Precision Float Array

Item	Description
Type	Python binding of std::array<double, 3>
Overview	Fixed-size 3D double array, commonly used for 3D coordinate representation
Main Methods	Supports indexing, iteration, length query, fixed length 3
Use Cases	3D coordinates, RGB values, Euler angles, position vectors

Double4Array — 4D Double Precision Float Array

Item	Description
Type	Python binding of std::array<double, 4>
Overview	Fixed-size 4D double array, commonly used for quaternion representation
Main Methods	Supports indexing, iteration, length query, fixed length 4
Use Cases	Quaternions, RGBA values, pose representation

Double9Array — 9D Double Precision Float Array

Item	Description
Type	Python binding of std::array<double, 9>
Overview	Fixed-size 9D double array, commonly used for 3x3 matrix representation
Main Methods	Supports indexing, iteration, length query, fixed length 9
Use Cases	3x3 rotation matrix, covariance matrix, transformation matrix

Double12Array — 12D Double Precision Float Array

Item	Description
Type	Python binding of std::array<double, 12>
Overview	Fixed-size 12D double array, commonly used for 3x4 projection matrix representation
Main Methods	Supports indexing, iteration, length query, fixed length 12
Use Cases	3x4 projection matrix, camera parameter matrix

Header — Header Structure

Field Name	Type	Description
stamp	int	Timestamp
frame_id	str	Coordinate frame ID

Image — Image Structure

Field Name	Type	Description
header	Header	Header information
height	int	Image height
width	int	Image width
encoding	str	Encoding format
is_bigendian	bool	Is big endian
step	int	Step size
data	Uint8Vector	Image data

Imu — Inertial Measurement Unit Structure

Field Name	Type	Description
timestamp	int	Timestamp
orientation	Double4Array	Orientation quaternion (read-only)
angular_velocity	Double3Array	Angular velocity (read-only)
linear_acceleration	Double3Array	Linear acceleration (read-only)
temperature	float	Temperature

PointField — Point Cloud Field Description Structure

Field Name	Type	Description
name	str	Field name, e.g. "x", "y", "z", "intensity", etc.
offset	int	Starting byte offset
datatype	int	Data type (corresponding constant)
count	int	Number of elements in this field

PointCloud2 — General Point Cloud Data Structure

Field Name	Type	Description
header	Header	Standard message header
height	int	Number of rows
width	int	Number of columns
fields	PointFieldVector	Point field array
is_bigendian	bool	Byte order
point_step	int	Bytes per point
row_step	int	Bytes per row
data	Uint8Vector	Raw point cloud data (packed by field)
is_dense	bool	Is dense point cloud (no invalid points)

CameraInfo — Camera Intrinsic and Distortion Info Structure

Field Name	Type	Description
header	Header	General message header
height	int	Image height (rows)
width	int	Image width (columns)
distortion_model	str	Distortion model, e.g. "plumb_bob"
D	FloatVector	Distortion parameter array
K	FloatVector	Camera intrinsic matrix (9 elements)
R	FloatVector	Rectification matrix (9 elements)
P	FloatVector	Projection matrix (12 elements)
binning_x	int	Horizontal binning factor
binning_y	int	Vertical binning factor
roi_x_offset	int	ROI start x
roi_y_offset	int	ROI start y
roi_height	int	ROI height
roi_width	int	ROI width
roi_do_rectify	bool	Whether to rectify

CompressedImage — Compressed Image Structure

Field Name	Type	Description
header	Header	General message header
format	str	Compression format
data	Uint8Vector	Compressed image data

LaserScan — LiDAR Data Structure

Field Name	Type	Description
header	Header	General message header
angle_min	int	Minimum angle
angle_max	int	Maximum angle
angle_increment	int	Angle increment
time_increment	int	Time increment
scan_time	int	Scan time
range_min	int	Minimum range
range_max	int	Maximum range
ranges	FloatVector	Range data array
intensities	FloatVector	Intensity data array

MultiArrayDimension — Multi-dimensional Array Dimension Description Structure

Field Name	Type	Description
label	str	Dimension label
size	int	Dimension size
stride	int	Stride

MultiArrayLayout — Multi-dimensional Array Layout Description Structure

Field Name	Type	Description
dim_size	int	Number of dimensions
dim	MultiArrayDimensionVector	Dimension description array
data_offset	int	Data offset

Float32MultiArray — Float Multi-dimensional Array Structure

Field Name	Type	Description
layout	MultiArrayLayout	Array layout description
data	FloatVector	Float data array

ByteMultiArray — Byte Array Structure

Field Name	Type	Description
layout	MultiArrayLayout	Array layout description
data	Uint8Vector	Byte data array

HeadTouch — Head Touch Data Structure

Field Name	Type	Description
data	int	Touch state data