robits.utils package

Submodules

robits.utils.process_utils module

class robits.utils.process_utils.ProcessMonitor

Bases: object

Monitors running service instances. Running services are detected by a magic command line parameter.

classmethod filter_by_cmdline(arg, p)

kill(config_name: str)

list() → List[str]

status() → List[Dict[str, Any]]

terminate(config_name: str)

robits.utils.service_launcher module

robits.utils.system_utils module

robits.utils.system_utils.has_rt_support() → bool

Checks if the system has real-time support

Returns:

True if a RT kernel is installed

robits.utils.system_utils.ping_host(hostname) → bool

Checks if a host is available.

Parameters:

hostname – the hostname or ip address to ping

Returns:

True if the ping command was successful

robits.utils.transform_utils module

robits.utils.transform_utils.mat2pose(mat: ndarray) → Tuple[ndarray, ndarray]

Converts a 4x4 matrix to a pose tuple

Parameters:

mat – the transformation matrix

Returns:

(position, quaternion)

robits.utils.transform_utils.pose2mat(pose: Tuple[ndarray, ndarray]) → ndarray

Converts a pose tuple to a 4x4 matrix Quaternion format is xyzw

Parameters:

pose – (position, quaternion)

Returns:

the transformation matrix

robits.utils.transform_utils.transform_pose(transform: ndarray, position: ndarray, quaternion: ndarray) → Tuple[ndarray, ndarray]

Parameters:

• transform – The 4x4 matrix transformation to apply

• position – The position to transform

• quaternion – The quaternion to transform

robits.utils.vision_utils module

FIXME importing open3d takes too long on the first run.

robits.utils.vision_utils.camera_parameters_to_open3d(w: int, h: int, intrinsics: ndarray) → PinholeCameraParameters

Converts camera intrinsic parameters to Open3D PinholeCameraIntrinsic format.

Parameters:

• w – The width of the image.

• h – The height of the image.

• intrinsics – The 3x3 intrinsic matrix.

Returns:

Open3D PinholeCameraIntrinsic object.

robits.utils.vision_utils.depth_to_pcd(camera_data, camera, apply_extrinsics: bool = False) → PointCloud

Converts depth and RGB images to a point cloud.

Parameters:

• camera_data – Camera data containing RGB and depth images.

• camera – Camera object containing intrinsics and extrinsics.

• apply_extrinsics – Flag whether to apply extrinsic transformations.

Returns:

Open3D PointCloud object.

robits.utils.vision_utils.get_camera_data_resized(camera_data, target_image_size: Tuple[int, int]) → Tuple[CameraData, Dict[str, Any]]

Resizes camera images while preserving metadata.

Parameters:

• camera_data – The original camera data containing RGB and depth images.

• target_image_size – The target image size (width, height).

Returns:

Tuple containing resized camera data and metadata.