Utilities

General

get_public_fields

airgen.utils.general.get_public_fields(obj)

Get all public fields of an object (not starting with _).

Arguments

obj · Object

The object to retrieve fields from.

Returns

List[str] · List[str]

List[str]

list_to_2d_float_array

airgen.utils.general.list_to_2d_float_array(flst, width, height)

Convert a list of floats to a 2D array.

Arguments

flst · List[float]

List of float values.

width · int

The width of the array.

height · int

The height of the array.

Returns

np.ndarray · np.ndarray

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

string_to_float_array

airgen.utils.general.string_to_float_array(bstr)

Convert a string to a float array.

Arguments

bstr · str | bytes

The string or bytes to convert.

Returns

np.ndarray · np.ndarray

np.ndarray

string_to_uint8_array

airgen.utils.general.string_to_uint8_array(bstr)

Convert a string to a uint8 array.

Arguments

bstr · str | bytes

The string or bytes to convert.

Returns

np.ndarray · np.ndarray

A NumPy array with dtype=uint8.

to_dict

airgen.utils.general.to_dict(obj)

Convert an object to a dictionary of its public fields.

Arguments

obj · Object

The object to convert.

Returns

Dict[str, Any] · Dict[str, Any]

Dict[str, Any]

to_str

airgen.utils.general.to_str(obj)

Convert an object to a string of its public fields.

Arguments

obj · Object

The object to convert.

Returns

str · str

str

vector3d2list

airgen.utils.general.vector3d2list(vector3d)

Turn an AirGen Vector3r into a list of three floats.

Arguments

vector3d · Vector3r

The 3D vector to convert.

Returns

List[float] · List[float]

List[float]

wait_key

airgen.utils.general.wait_key(message="")

Wait for a key press on the console and return it.

Arguments

message · str, optional

message to display while waiting.

write_file

airgen.utils.general.write_file(filename, bstr)

Write binary data to a file. Used for writing compressed PNG images.

Arguments

filename · str

The name of the file.

bstr · bytes

The binary data to write.

Sensor

imagetype2request

airgen.utils.sensor.imagetype2request(camera_name, image_type)

Helper function to create an uncompressed AirGen ImageRequest for a given image type.

Arguments

camera_name · Literal["front_center", "bottom_center"]

The name of the camera.

image_type · ImageType

The type of image to capture.

Returns

ImageRequest

responses2images

airgen.utils.sensor.responses2images(responses, dtype=None)

Convert AirGen image responses to NumPy arrays.

Arguments

responses · List[ImageResponse]

The image responses to convert.

dtype · Optional[Any]

The data type for the resulting NumPy arrays.

Returns

Dict[str, np.ndarray] · Dict[str, np.ndarray]

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

Mechanics

cameracoord2worldcoord

airgen.utils.mechanics.cameracoord2worldcoord(camera_coord, camera_params)

Given AirGen camera parameters, transform a camera coordinate back to AirGen world coordinates.

Arguments

camera_coord · List[float]

A coordinate (x, y, z).

camera_params · dict

Camera parameters.

Returns

np.ndarray · np.ndarray

np.ndarray

homo_coord_to_nonhome_coord

airgen.utils.mechanics.homo_coord_to_nonhome_coord(home_coord)

Turn homogeneous coordinates into non-homogeneous coordinates by factoring out the last dimension.

Arguments

home_coord · ivy.Array

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

Returns

ivy.Array · ivy.Array

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

imagecoord2direction

airgen.utils.mechanics.imagecoord2direction(pixelcoord, camera_param)

Given camera parameters (position, pose, and FOV) and pixel coordinates, return the 3D direction of the pixel relative to the camera.

Arguments

pixelcoord · Tuple[float, float]

Coordinate of the pixel in the image in xy format.

camera_param · Dict[str, Any]

Camera parameters.

Returns

Tuple[float, float, float] · Tuple[float, float, float]

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

imagecoord2orientation

airgen.utils.mechanics.imagecoord2orientation(pixelcoord, camera_param)

Given camera parameters (position, pose, and FOV) and pixel coordinates, return the 3D direction of the pixel relative to the camera, represented in yaw and pitch (absolute degrees).

Arguments

pixelcoord · Tuple[float, float]

Coordinate of the pixel in the image in xy format.

camera_param · Dict[str, Any]

Camera parameters.

Returns

Tuple[float, float, float] · Tuple[float, float, float]

Target pitch, roll, yaw in radians.

imagecoord2pose

airgen.utils.mechanics.imagecoord2pose(pixelcoord, point_depth, camera_param)

Convert pixel coordinates to 3D coordinates.

Arguments

pixelcoord · Tuple[float, float]

Coordinate of the pixel in the image in xy format.

point_depth · float

Depth of the point.

camera_param · Dict[str, Any]

Camera parameters.

Returns

Tuple[float, float, float] · Tuple[float, float, float]

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

pose2vector

airgen.utils.mechanics.pose2vector(pitch, roll, yaw)

Transform a target direction represented in (pitch, roll, yaw) in radians into a directional vector.

Arguments

pitch · float

Pitch angle in radians.

roll · float

Roll angle in radians.

yaw · float

Yaw angle in radians.

Returns

Tuple[float, float, float] · Tuple[float, float, float]

Unit directional vector (x, y, z).

quat_wxyz_to_xyzw

airgen.utils.mechanics.quat_wxyz_to_xyzw(quat_wxyz)

Transform a quaternion (represented by a list of floats) from wxyz format to xyzw format.

Arguments

quat_wxyz · List[float]

A quaternion in wxyz format.

Returns

np.ndarray · np.ndarray

A quaternion in xyzw format.

rotate_xy

airgen.utils.mechanics.rotate_xy(vec, theta)

Rotate the xy component of a 3D vector by theta (in degrees) counterclockwise in the xy plane.

Assume the orientation:

^ y
|
|
|______> x

Arguments

vec · np.ndarray

A vector of shape (3,).

theta · float

Rotation angle in degrees.

Returns

np.ndarray · np.ndarray

Rotated vector of shape (3,).

to_eularian_angles

airgen.utils.mechanics.to_eularian_angles(q)

Transform a quaternion into Euler angles.

Arguments

q · Quaternionr

A quaternion in wxyz format.

Returns

Tuple[float, float, float] · Tuple[float, float, float]

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

vec2eulerangles

airgen.utils.mechanics.vec2eulerangles(vec)

Transform an AirGen directional vector into Euler angles.

Arguments

vec · np.ndarray

A directional vector of shape (N, 3).

Returns

np.ndarray · np.ndarray

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

Vision

The vision subsection of AirGen utilities provides essential functions for handling camera parameters and generating point clouds from depth images.

build_camera

airgen.utils.vision.build_camera(camera_params)

Given AirGen camera parameters, this function builds the inverse extrinsic matrix and the camera intrinsic matrix.

Arguments

camera_params · dict

AirGen camera parameters.

Returns

Tuple[ivy.Array, ivy.Array] · Tuple[ivy.Array, ivy.Array]

Tuple of: Inverse Extrinsic Matrix, Intrinsic Matrix

build_camera_intrinsic

airgen.utils.vision.build_camera_intrinsic(camera_params)

Constructs the camera intrinsic matrix using AirGen camera parameters.

Arguments

camera_params · dict

AirGen camera parameters.

Returns

ivy.Array · ivy.Array

ivy.Array

build_camera_inv_extrinsic

airgen.utils.vision.build_camera_inv_extrinsic(camera_params)

Generates the inverse extrinsic matrix for the camera based on its parameters.

Arguments

camera_params · dict

AirGen camera parameters.

Returns

ivy.Array · ivy.Array

Inverse Extrinsic Matrix

camera_unproject_depth

airgen.utils.vision.camera_unproject_depth(depth, cam_inv_ext_mat, cam_inv_calib_mat)

Generates a point cloud from a depth image (Depth Perspective).

Arguments

depth · np.ndarray

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

cam_inv_ext_mat · ivy.Array

Inverse of camera extrinsic matrix.

cam_inv_calib_mat · ivy.Array

Inverse of camera intrinsic matrix.

Returns

np.ndarray · np.ndarray

Point cloud of shape (N, 3).

depth2pointcloud

airgen.utils.vision.depth2pointcloud(depth, camera_param, mask=None)

Generates a point cloud from a depth image.

Arguments

depth · np.ndarray

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

camera_param · dict

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

mask · Optional[np.ndarray]

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

Returns

np.ndarray · np.ndarray

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

Trajectory

The trajectory subsection of AirGen utilities focuses on waypoint-based path planning and trajectory generation.

Waypoint

airgen.utils.trajectory.Waypoint(x, y, z, yaw, time)

Stores a waypoint with positional and timing information.

Arguments

x, y, z

Position in the world frame.

yaw

Euler angle of the waypoint.

time

Time at which the waypoint is to be reached.

calc_time

airgen.utils.trajectory.calc_time(start, end)

Calculates a fitting time for the trajectory between two waypoints.

Arguments

start · Waypoint

Starting waypoint.

end · Waypoint

Ending waypoint.

fit_min_snap_trajectory

airgen.utils.trajectory.fit_min_snap_trajectory(waypoint_arr, isJoint=True)

Starting point for trajectory generation by transforming an array of arrays into an array of waypoints.

Arguments

waypoint_arr · array of arrays

Input waypoints.

isJoint · bool

Indicates whether to calculate joint operations. Defaults to True.

joint

airgen.utils.trajectory.joint(waypoints)

Calculates a trajectory using joint operations.

Arguments

waypoints · array of Waypoints

Waypoints to be connected by joint operations.

separate

airgen.utils.trajectory.separate(waypoints)

Calculates a trajectory using separate operations.

Arguments

waypoints · array of Waypoints

Waypoints to be processed individually.

Visualize

The visualize subsection of AirGen utilities provides methods to log camera data and images from AirGen to Rerun for real-time visualization.

rr_camera_capture_logger

airgen.utils.visualize.rr_camera_capture_logger(rr_space_view_name)

Given a view space name (entity_path in Rerun), returns a function that logs camera data (pose and capture in AirGen’s 3D world coordinate) to that view space.

Arguments

rr_space_view_name · str

Name of the view space (entity_path) in Rerun.

Returns

A callable function that logs camera data to the specified view space.

• Usage:

trajectory_logger = rr_camera_capture_logger("airgen_world")
trajectory_logger(image, camera_params, camera_name)

rr_log_airgen_image

airgen.utils.visualize.rr_log_airgen_image(entity_path, image_type, image, image_name="")

Logs images from AirGen to Rerun.

Arguments

entity_path · str

Path to the entity in Rerun.

image_type · ImageType

Type of image to log.

image · np.ndarray

Image data.

image_name · str, optional

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

Raises

ValueError

If image_type is not supported.