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General

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get_public_fields

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airgen.utils.general.get_public_fields(obj)
Get all public fields of an object (not starting with _).
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Arguments
​
obj
Object
The object to retrieve fields from.
​
Returns
​
List[str]
List[str]
List[str]

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list_to_2d_float_array

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airgen.utils.general.list_to_2d_float_array(flst, width, height)
Convert a list of floats to a 2D array.
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Arguments
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flst
List[float]
List of float values.
​
width
int
The width of the array.
​
height
int
The height of the array.
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Returns
​
np.ndarray
np.ndarray
A NumPy array with dtype=np.float32 and shape (height, width).

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string_to_float_array

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airgen.utils.general.string_to_float_array(bstr)
Convert a string to a float array.
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Arguments
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bstr
str | bytes
The string or bytes to convert.
​
Returns
​
np.ndarray
np.ndarray
np.ndarray

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string_to_uint8_array

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airgen.utils.general.string_to_uint8_array(bstr)
Convert a string to a uint8 array.
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Arguments
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bstr
str | bytes
The string or bytes to convert.
​
Returns
​
np.ndarray
np.ndarray
A NumPy array with dtype=uint8.

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to_dict

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airgen.utils.general.to_dict(obj)
Convert an object to a dictionary of its public fields.
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Arguments
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obj
Object
The object to convert.
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Returns
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Dict[str, Any]
Dict[str, Any]
Dict[str, Any]

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to_str

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airgen.utils.general.to_str(obj)
Convert an object to a string of its public fields.
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Arguments
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obj
Object
The object to convert.
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Returns
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str
str
str

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vector3d2list

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airgen.utils.general.vector3d2list(vector3d)
Turn an AirGen Vector3r into a list of three floats.
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Arguments
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vector3d
Vector3r
The 3D vector to convert.
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Returns
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List[float]
List[float]
List[float]

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wait_key

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airgen.utils.general.wait_key(message="")
Wait for a key press on the console and return it.
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Arguments
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message
str, optional
message to display while waiting.

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write_file

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airgen.utils.general.write_file(filename, bstr)
Write binary data to a file. Used for writing compressed PNG images.
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Arguments
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filename
str
The name of the file.
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bstr
bytes
The binary data to write.

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Sensor

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imagetype2request

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airgen.utils.sensor.imagetype2request(camera_name, image_type)
Helper function to create an uncompressed AirGen ImageRequest for a given image type.
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Arguments
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camera_name
Literal["front_center", "bottom_center"]
The name of the camera.
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image_type
ImageType
The type of image to capture.
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Returns
ImageRequest

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responses2images

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airgen.utils.sensor.responses2images(responses, dtype=None)
Convert AirGen image responses to NumPy arrays.
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Arguments
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responses
List[ImageResponse]
The image responses to convert.
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dtype
Optional[Any]
The data type for the resulting NumPy arrays.
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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 widthheight (int): image heightfov (float): camera field of view in degreescamera_position (List[float]): camera position (x,y,z) in airgen (NED frame)camera_orientation_euler_pry (List[float]): camera orientation (pitch, roll, yaw) in degreescamera_orientation_quat_wxyz (List[float]): camera orientation (w,x,y,z) in quaternion format

​
Mechanics

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cameracoord2worldcoord

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airgen.utils.mechanics.cameracoord2worldcoord(camera_coord, camera_params)
Given AirGen camera parameters, transform a camera coordinate back to AirGen world coordinates.
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Arguments
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camera_coord
List[float]
A coordinate (x, y, z).
​
camera_params
dict
Camera parameters.
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Returns
​
np.ndarray
np.ndarray
np.ndarray

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homo_coord_to_nonhome_coord

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airgen.utils.mechanics.homo_coord_to_nonhome_coord(home_coord)
Turn homogeneous coordinates into non-homogeneous coordinates by factoring out the last dimension.
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Arguments
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home_coord
ivy.Array
An array of shape (..., n).
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Returns
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ivy.Array
ivy.Array
An array of shape (..., n-1).

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imagecoord2direction

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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.
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Arguments
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pixelcoord
Tuple[float, float]
Coordinate of the pixel in the image in xy format.
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camera_param
Dict[str, Any]
Camera parameters.
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Returns
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Tuple[float, float, float]
Tuple[float, float, float]
Normalized unit directional vector (x, y, z).

​
imagecoord2orientation

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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).
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Arguments
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pixelcoord
Tuple[float, float]
Coordinate of the pixel in the image in xy format.
​
camera_param
Dict[str, Any]
Camera parameters.
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Returns
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Tuple[float, float, float]
Tuple[float, float, float]
Target pitch, roll, yaw in radians.

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imagecoord2pose

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airgen.utils.mechanics.imagecoord2pose(pixelcoord, point_depth, camera_param)
Convert pixel coordinates to 3D coordinates.
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Arguments
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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.
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Returns
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Tuple[float, float, float]
Tuple[float, float, float]
Target coordinate in (x, y, z) and orientation (pitch, roll, yaw) in radians.

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pose2vector

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airgen.utils.mechanics.pose2vector(pitch, roll, yaw)
Transform a target direction represented in (pitch, roll, yaw) in radians into a directional vector.
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Arguments
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pitch
float
Pitch angle in radians.
​
roll
float
Roll angle in radians.
​
yaw
float
Yaw angle in radians.
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Returns
​
Tuple[float, float, float]
Tuple[float, float, float]
Unit directional vector (x, y, z).

​
quat_wxyz_to_xyzw

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airgen.utils.mechanics.quat_wxyz_to_xyzw(quat_wxyz)
Transform a quaternion (represented by a list of floats) from wxyz format to xyzw format.
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Arguments
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quat_wxyz
List[float]
A quaternion in wxyz format.
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Returns
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np.ndarray
np.ndarray
A quaternion in xyzw format.

​
rotate_xy

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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
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Arguments
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vec
np.ndarray
A vector of shape (3,).
​
theta
float
Rotation angle in degrees.
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Returns
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np.ndarray
np.ndarray
Rotated vector of shape (3,).

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to_eularian_angles

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airgen.utils.mechanics.to_eularian_angles(q)
Transform a quaternion into Euler angles.
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Arguments
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q
Quaternionr
A quaternion in wxyz format.
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Returns
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Tuple[float, float, float]
Tuple[float, float, float]
Euler angles (pitch, roll, yaw) in radians.

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vec2eulerangles

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airgen.utils.mechanics.vec2eulerangles(vec)
Transform an AirGen directional vector into Euler angles.
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Arguments
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vec
np.ndarray
A directional vector of shape (N, 3).
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Returns
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np.ndarray
np.ndarray
np.ndarray: Euler angles of shape (N, 3) where each row is (pitch, roll, yaw) in degrees.

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Vision

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

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build_camera

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airgen.utils.vision.build_camera(camera_params)
Given AirGen camera parameters, this function builds the inverse extrinsic matrix and the camera intrinsic matrix.
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Arguments
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camera_params
dict
AirGen camera parameters.
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Returns
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Tuple[ivy.Array, ivy.Array]
Tuple[ivy.Array, ivy.Array]
Tuple of: Inverse Extrinsic Matrix, Intrinsic Matrix

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build_camera_intrinsic

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airgen.utils.vision.build_camera_intrinsic(camera_params)
Constructs the camera intrinsic matrix using AirGen camera parameters.
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Arguments
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camera_params
dict
AirGen camera parameters.
​
Returns
​
ivy.Array
ivy.Array
ivy.Array

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build_camera_inv_extrinsic

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airgen.utils.vision.build_camera_inv_extrinsic(camera_params)
Generates the inverse extrinsic matrix for the camera based on its parameters.
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Arguments
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camera_params
dict
AirGen camera parameters.
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Returns
​
ivy.Array
ivy.Array
Inverse Extrinsic Matrix

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camera_unproject_depth

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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).
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Arguments
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depth
np.ndarray
Depth image of shape (H, W, 1).
​
cam_inv_ext_mat
ivy.Array
Inverse of camera extrinsic matrix.
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cam_inv_calib_mat
ivy.Array
Inverse of camera intrinsic matrix.
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Returns
​
np.ndarray
np.ndarray
Point cloud of shape (N, 3).

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depth2pointcloud

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airgen.utils.vision.depth2pointcloud(depth, camera_param, mask=None)
Generates a point cloud from a depth image.
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Arguments
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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.
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Returns
​
np.ndarray
np.ndarray
Point cloud in AirGen world coordinates of shape (N, 3).

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Trajectory

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

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Waypoint

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airgen.utils.trajectory.Waypoint(x, y, z, yaw, time)
Stores a waypoint with positional and timing information.
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Arguments
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x, y, z
Position in the world frame.
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yaw
Euler angle of the waypoint.
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time
Time at which the waypoint is to be reached.

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calc_time

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airgen.utils.trajectory.calc_time(start, end)
Calculates a fitting time for the trajectory between two waypoints.
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Arguments
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start
Waypoint
Starting waypoint.
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end
Waypoint
Ending waypoint.

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fit_min_snap_trajectory

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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.
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Arguments
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waypoint_arr
array of arrays
Input waypoints.
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isJoint
bool
Indicates whether to calculate joint operations. Defaults to True.

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joint

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airgen.utils.trajectory.joint(waypoints)
Calculates a trajectory using joint operations.
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Arguments
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waypoints
array of Waypoints
Waypoints to be connected by joint operations.

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separate

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airgen.utils.trajectory.separate(waypoints)
Calculates a trajectory using separate operations.
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Arguments
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waypoints
array of Waypoints
Waypoints to be processed individually.

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Visualize

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

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rr_camera_capture_logger

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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.
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Arguments
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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)

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rr_log_airgen_image

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airgen.utils.visualize.rr_log_airgen_image(entity_path, image_type, image, image_name="")
Logs images from AirGen to Rerun.
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Arguments
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entity_path
str
Path to the entity in Rerun.
​
image_type
ImageType
Type of image to log.
​
image
np.ndarray
Image data.
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image_name
str, optional
Name of the image (default is an empty string).
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Raises
​
ValueError
If image_type is not supported.