Utilities

The object to retrieve fields from.

List[str]

List of float values.

The width of the array.

The height of the array.

A NumPy array with dtype=np.float32 and shape (height, width).

The string or bytes to convert.

np.ndarray

The string or bytes to convert.

A NumPy array with dtype=uint8.

The object to convert.

Dict[str, Any]

The object to convert.

str

The 3D vector to convert.

List[float]

message to display while waiting.

The name of the file.

The binary data to write.

The name of the camera.

The type of image to capture.

The image responses to convert.

The data type for the resulting NumPy arrays.

A dictionary with keys corresponding to camera names and values as the images.

image: For ImageType.Scene, ImageType.DepthVis, ImageType.OpticalFlowVis, image data is RGB image, numpy array with dtype=np.uint8, shape=(height, width, 3)

For ImageType.DepthPerspective, ImageType.DepthPlanar, ImageType.DisparityNormalized, image data is depth image in meters, numpy array with dtype=np.float32, shape=(height, width, 1)

For ImageType.Segmentation, image data is array of objects’ SegmentationIDs, numpy array with dtype=np.uint8, shape=(height, width, 1)

For ImageType.SurfaceNormals, image data is array of unit vector (normalized length), numpy array with dtype=np.float32, shape=(height, width, 3)

For ImageType.OpticalFlow, image data is array of displacements in x,y directions, numpy array with dtype=np.float32, shape=(height, width, 2)

For ImageType.Infrared, image data is array of infrared values (object’s SegmentationID for now), numpy array with dtype=np.uint8, shape=(height, width, 1)

camera parameters: width (int): image width

height (int): image height

fov (float): camera field of view in degrees

camera_position (List[float]): camera position (x,y,z) in airgen (NED frame)

camera_orientation_euler_pry (List[float]): camera orientation (pitch, roll, yaw) in degrees

camera_orientation_quat_wxyz (List[float]): camera orientation (w,x,y,z) in quaternion format

A coordinate (x, y, z).

Camera parameters.

np.ndarray

An array of shape (..., n).

An array of shape (..., n-1).

Coordinate of the pixel in the image in xy format.

Camera parameters.

Normalized unit directional vector (x, y, z).

Coordinate of the pixel in the image in xy format.

Camera parameters.

Target pitch, roll, yaw in radians.

Coordinate of the pixel in the image in xy format.

Depth of the point.

Camera parameters.

Target coordinate in (x, y, z) and orientation (pitch, roll, yaw) in radians.

Pitch angle in radians.

Roll angle in radians.

Yaw angle in radians.

Unit directional vector (x, y, z).

A quaternion in wxyz format.

A quaternion in xyzw format.

A vector of shape (3,).

Rotation angle in degrees.

Rotated vector of shape (3,).

A quaternion in wxyz format.

Euler angles (pitch, roll, yaw) in radians.

A directional vector of shape (N, 3).

np.ndarray: Euler angles of shape (N, 3) where each row is (pitch, roll, yaw) in degrees.

AirGen camera parameters.

Tuple of: Inverse Extrinsic Matrix, Intrinsic Matrix

AirGen camera parameters.

ivy.Array

AirGen camera parameters.

Inverse Extrinsic Matrix

Depth image of shape (H, W, 1).

Inverse of camera extrinsic matrix.

Inverse of camera intrinsic matrix.

Point cloud of shape (N, 3).

Depth image of shape (H, W, 1).

Camera parameters containing field of view, height, width, and pose.

Boolean mask where 1 indicates the object of interest (H, W, 1). Defaults to None.

Point cloud in AirGen world coordinates of shape (N, 3).

Position in the world frame.

Euler angle of the waypoint.

Time at which the waypoint is to be reached.

Starting waypoint.

Ending waypoint.

Input waypoints.

Indicates whether to calculate joint operations. Defaults to True.

Waypoints to be connected by joint operations.

Waypoints to be processed individually.

Name of the view space (entity_path) in Rerun.

Path to the entity in Rerun.

Type of image to log.

Image data.

Name of the image (default is an empty string).

If image_type is not supported.