> ## Documentation Index > Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt > Use this file to discover all available pages before exploring further. # Utilities ## General ### get\_public\_fields Get all public fields of an object (not starting with `_`). The object to retrieve fields from. List\[str] ### list\_to\_2d\_float\_array Convert a list of floats to a 2D array. 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)`. ### string\_to\_float\_array Convert a string to a float array. The string or bytes to convert. np.ndarray ### string\_to\_uint8\_array Convert a string to a `uint8` array. The string or bytes to convert. A NumPy array with `dtype=uint8`. ### to\_dict Convert an object to a dictionary of its public fields. The object to convert. Dict\[str, Any] ### to\_str Convert an object to a string of its public fields. The object to convert. str ### vector3d2list Turn an AirGen [Vector3r](/simulation/airgen/reference/datatypes#vector3r) into a list of three floats. The 3D vector to convert. List\[float] ### wait\_key Wait for a key press on the console and return it. message to display while waiting. ### write\_file Write binary data to a file. Used for writing compressed PNG images. The name of the file. The binary data to write. ## Sensor ### imagetype2request Helper function to create an uncompressed AirGen [ImageRequest](/simulation/airgen/reference/datatypes#imagerequest) for a given image type. The name of the camera. The type of image to capture. [ImageRequest](/simulation/airgen/reference/datatypes#imagerequest) ### responses2images Convert AirGen image responses to NumPy arrays. 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 ## Mechanics ### cameracoord2worldcoord Given AirGen camera parameters, transform a camera coordinate back to AirGen world coordinates. A coordinate `(x, y, z)`. Camera parameters. np.ndarray ### homo\_coord\_to\_nonhome\_coord Turn homogeneous coordinates into non-homogeneous coordinates by factoring out the last dimension. An array of shape `(..., n)`. An array of shape `(..., n-1)`. ### imagecoord2direction Given camera parameters (position, pose, and FOV) and pixel coordinates, return the 3D direction of the pixel relative to the camera. Coordinate of the pixel in the image in `xy` format. Camera parameters. Normalized unit directional vector `(x, y, z)`. ### imagecoord2orientation 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). Coordinate of the pixel in the image in `xy` format. Camera parameters. Target pitch, roll, yaw in radians. ### imagecoord2pose Convert pixel coordinates to 3D coordinates. 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. ### pose2vector Transform a target direction represented in `(pitch, roll, yaw)` in radians into a directional vector. Pitch angle in radians. Roll angle in radians. Yaw angle in radians. Unit directional vector `(x, y, z)`. ### quat\_wxyz\_to\_xyzw Transform a quaternion (represented by a list of floats) from `wxyz` format to `xyzw` format. A quaternion in `wxyz` format. A quaternion in `xyzw` format. ### rotate\_xy Rotate the `xy` component of a 3D vector by `theta` (in degrees) counterclockwise in the `xy` plane. Assume the orientation: ``` ^ y | | |______> x ``` A vector of shape `(3,)`. Rotation angle in degrees. Rotated vector of shape `(3,)`. ### to\_eularian\_angles Transform a quaternion into Euler angles. A quaternion in `wxyz` format. Euler angles `(pitch, roll, yaw)` in radians. ### vec2eulerangles Transform an AirGen directional vector into Euler angles. A directional vector of shape `(N, 3)`. 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 Given AirGen camera parameters, this function builds the inverse extrinsic matrix and the camera intrinsic matrix. AirGen camera parameters. Tuple of: `Inverse Extrinsic Matrix`, `Intrinsic Matrix` ### build\_camera\_intrinsic Constructs the camera intrinsic matrix using AirGen camera parameters. AirGen camera parameters. ivy.Array ### build\_camera\_inv\_extrinsic Generates the inverse extrinsic matrix for the camera based on its parameters. AirGen camera parameters. `Inverse Extrinsic Matrix` ### camera\_unproject\_depth Generates a point cloud from a depth image (Depth Perspective). Depth image of shape `(H, W, 1)`. Inverse of camera extrinsic matrix. Inverse of camera intrinsic matrix. Point cloud of shape `(N, 3)`. ### depth2pointcloud Generates a point cloud from a depth image. 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)`. ## Trajectory The `trajectory` subsection of AirGen utilities focuses on waypoint-based path planning and trajectory generation. ### Waypoint Stores a waypoint with positional and timing information. Position in the world frame. Euler angle of the waypoint. Time at which the waypoint is to be reached. ### calc\_time Calculates a fitting time for the trajectory between two waypoints. Starting waypoint. Ending waypoint. ### fit\_min\_snap\_trajectory Starting point for trajectory generation by transforming an array of arrays into an array of waypoints. Input waypoints. Indicates whether to calculate joint operations. Defaults to `True`. ### joint Calculates a trajectory using joint operations. Waypoints to be connected by joint operations. ### separate Calculates a trajectory using separate operations. 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 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. Name of the view space (entity\_path) in Rerun. A callable function that logs camera data to the specified view space. * Usage: ```python theme={null} trajectory_logger = rr_camera_capture_logger("airgen_world") trajectory_logger(image, camera_params, camera_name) ``` ### rr\_log\_airgen\_image Logs images from AirGen to 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.