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holoscan.pose_tree

This module provides a Python interface to the Holoscan SDK logger.

`holoscan.pose_tree.Pose2`	Attributes
`holoscan.pose_tree.Pose3`	Attributes
`holoscan.pose_tree.PoseTree`	Methods
`holoscan.pose_tree.PoseTreeAccessMethod`	Members:
`holoscan.pose_tree.SO2`	Methods
`holoscan.pose_tree.SO3`	Attributes
`holoscan.pose_tree.PoseTreeUCXClient`	Attributes
`holoscan.pose_tree.PoseTreeUCXClientConfig`	Attributes
`holoscan.pose_tree.PoseTreeUCXServer`	Attributes
`holoscan.pose_tree.PoseTreeUCXServerConfig`	Attributes

class holoscan.pose_tree.Pose2

Bases: pybind11_builtins.pybind11_object

Attributes

angle
rotation
translation

Methods

`from_matrix`(arg0)
`from_rotation`(arg0)
`from_translation`(arg0)
`from_xy_a`(arg0, arg1, arg2)
`identity`()
`inverse`(self)
`matrix`(self)

__init__(*args, **kwargs)

Overloaded function.

__init__(self: holoscan.pose_tree._pose_tree.Pose2) -> None
__init__(self: holoscan.pose_tree._pose_tree.Pose2, rotation: holoscan.pose_tree._pose_tree.SO2, translation: numpy.ndarray[numpy.float64[2, 1]]) -> None

property angle

static from_matrix(arg0: numpy.ndarray[numpy.float64[3, 3]]) → holoscan.pose_tree._pose_tree.Pose2

static from_rotation(arg0: float) → holoscan.pose_tree._pose_tree.Pose2

static from_translation(arg0: numpy.ndarray[numpy.float64[2, 1]]) → holoscan.pose_tree._pose_tree.Pose2

static from_xy_a(arg0: float, arg1: float, arg2: float) → holoscan.pose_tree._pose_tree.Pose2

static identity() → holoscan.pose_tree._pose_tree.Pose2

inverse(self: holoscan.pose_tree._pose_tree.Pose2) → holoscan.pose_tree._pose_tree.Pose2

matrix(self: holoscan.pose_tree._pose_tree.Pose2) → numpy.ndarray[numpy.float64[3, 3]]

property rotation

property translation

class holoscan.pose_tree.Pose3

Bases: pybind11_builtins.pybind11_object

Attributes

rotation
translation

Methods

`from_matrix`(arg0)
`from_pose2_xy`(arg0)
`from_rotation`(arg0, arg1)
`from_translation`(arg0)
`identity`()
`inverse`(self)
`to_pose2_xy`(self)

__init__(*args, **kwargs)

Overloaded function.

__init__(self: holoscan.pose_tree._pose_tree.Pose3) -> None
__init__(self: holoscan.pose_tree._pose_tree.Pose3, rotation: holoscan.pose_tree._pose_tree.SO3, translation: numpy.ndarray[numpy.float64[3, 1]]) -> None

static from_matrix(arg0: numpy.ndarray[numpy.float64[4, 4]]) → holoscan.pose_tree._pose_tree.Pose3

static from_pose2_xy(arg0: holoscan.pose_tree._pose_tree.Pose2) → holoscan.pose_tree._pose_tree.Pose3

static from_rotation(arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: float) → holoscan.pose_tree._pose_tree.Pose3

static from_translation(arg0: numpy.ndarray[numpy.float64[3, 1]]) → holoscan.pose_tree._pose_tree.Pose3

static identity() → holoscan.pose_tree._pose_tree.Pose3

inverse(self: holoscan.pose_tree._pose_tree.Pose3) → holoscan.pose_tree._pose_tree.Pose3

property rotation

to_pose2_xy(self: holoscan.pose_tree._pose_tree.Pose3) → holoscan.pose_tree._pose_tree.Pose2

property translation

class holoscan.pose_tree.PoseTree

Bases: pybind11_builtins.pybind11_object

Methods

`create_edges`(args, *kwargs)	Overloaded function.
`create_frame`(self[, name, number_edges])
`create_frame_with_id`(self, id[, name])
`deinit`(self)
`delete_edge`(args, *kwargs)	Overloaded function.
`delete_frame`(args, *kwargs)	Overloaded function.
`disconnect_edge`(args, *kwargs)	Overloaded function.
`disconnect_frame`(args, *kwargs)	Overloaded function.
`find_frame`(self, name)
`find_or_create_frame`(self, name[, number_edges])
`get`(args, *kwargs)	Overloaded function.
`get_edge_names`(self[, maximum_number_edges])
`get_edge_uids`(self[, maximum_number_edges])
`get_frame_name`(self, uid)
`get_frame_names`(self[, maximum_number_frames])
`get_frame_uids`(self[, maximum_number_frames])
`get_latest`(args, *kwargs)	Overloaded function.
`get_pose2_xy`(args, *kwargs)	Overloaded function.
`get_pose_tree_version`(self)
`init`(self[, number_frames, number_edges, ...])
`set`(args, *kwargs)	Overloaded function.
`set_multithreading_info`(self[, start_id, ...])

__init__(self: holoscan.pose_tree._pose_tree.PoseTree) → None

create_edges(*args, **kwargs)

Overloaded function.

create_edges(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, number_edges: int = 16, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>) -> int
create_edges(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, number_edges: int = 16, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>) -> int

create_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: str = '', number_edges: int = 16) → int

create_frame_with_id(self: holoscan.pose_tree._pose_tree.PoseTree, id: int, name: str = '') → int

deinit(self: holoscan.pose_tree._pose_tree.PoseTree) → None

delete_edge(*args, **kwargs)

Overloaded function.

delete_edge(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int) -> int
delete_edge(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str) -> int

delete_frame(*args, **kwargs)

Overloaded function.

delete_frame(self: holoscan.pose_tree._pose_tree.PoseTree, uid: int) -> int
delete_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: str) -> int

disconnect_edge(*args, **kwargs)

Overloaded function.

disconnect_edge(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, time: float) -> int
disconnect_edge(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, time: float) -> int

disconnect_frame(*args, **kwargs)

Overloaded function.

disconnect_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: int, time: float) -> int
disconnect_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: str, time: float) -> int

find_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: str) → int

find_or_create_frame(self: holoscan.pose_tree._pose_tree.PoseTree, name: str, number_edges: int = 16) → int

get(*args, **kwargs)

Overloaded function.

get(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, time: float = 1.7976931348623157e+308, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>, version: int = 0) -> holoscan.pose_tree._pose_tree.Pose3
get(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, time: float = 1.7976931348623157e+308, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>, version: int = 0) -> holoscan.pose_tree._pose_tree.Pose3

get_edge_names(self: holoscan.pose_tree._pose_tree.PoseTree, maximum_number_edges: int = 1024) → list[tuple[str, str]]

get_edge_uids(self: holoscan.pose_tree._pose_tree.PoseTree, maximum_number_edges: int = 1024) → list[tuple[int, int]]

get_frame_name(self: holoscan.pose_tree._pose_tree.PoseTree, uid: int) → str

get_frame_names(self: holoscan.pose_tree._pose_tree.PoseTree, maximum_number_frames: int = 1024) → list[str]

get_frame_uids(self: holoscan.pose_tree._pose_tree.PoseTree, maximum_number_frames: int = 1024) → list[int]

get_latest(*args, **kwargs)

Overloaded function.

get_latest(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int) -> tuple[holoscan.pose_tree._pose_tree.Pose3, float]
get_latest(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str) -> tuple[holoscan.pose_tree._pose_tree.Pose3, float]

get_pose2_xy(*args, **kwargs)

Overloaded function.

get_pose2_xy(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, time: float = 1.7976931348623157e+308, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>, version: int = 0) -> holoscan.pose_tree._pose_tree.Pose2
get_pose2_xy(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, time: float = 1.7976931348623157e+308, method: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod = <PoseTreeAccessMethod.DEFAULT: 6>, version: int = 0) -> holoscan.pose_tree._pose_tree.Pose2

get_pose_tree_version(self: holoscan.pose_tree._pose_tree.PoseTree) → int

init(self: holoscan.pose_tree._pose_tree.PoseTree, number_frames: int = 1024, number_edges: int = 16384, history_length: int = 1048576, default_number_edges: int = 16, default_history_length: int = 1024, edges_chunk_size: int = 4, history_chunk_size: int = 64) → None

set(*args, **kwargs)

Overloaded function.

set(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, time: float, pose: holoscan.pose_tree._pose_tree.Pose3) -> int
set(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, time: float, pose: holoscan.pose_tree._pose_tree.Pose3) -> int
set(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: int, rhs: int, time: float, pose: holoscan.pose_tree._pose_tree.Pose2) -> int
set(self: holoscan.pose_tree._pose_tree.PoseTree, lhs: str, rhs: str, time: float, pose: holoscan.pose_tree._pose_tree.Pose2) -> int

set_multithreading_info(self: holoscan.pose_tree._pose_tree.PoseTree, start_id: int = 1, increment: int = 1) → None

class holoscan.pose_tree.PoseTreeAccessMethod

Bases: pybind11_builtins.pybind11_object

Members:

NEAREST

INTERPOLATE_LINEARLY

EXTRAPOLATE_LINEARLY

INTERPOLATE_SLERP

EXTRAPOLATE_SLERP

DEFAULT

Attributes

name

value

DEFAULT = <PoseTreeAccessMethod.DEFAULT: 6>

EXTRAPOLATE_LINEARLY = <PoseTreeAccessMethod.EXTRAPOLATE_LINEARLY: 2>

EXTRAPOLATE_SLERP = <PoseTreeAccessMethod.EXTRAPOLATE_SLERP: 4>

INTERPOLATE_LINEARLY = <PoseTreeAccessMethod.INTERPOLATE_LINEARLY: 1>

INTERPOLATE_SLERP = <PoseTreeAccessMethod.INTERPOLATE_SLERP: 3>

NEAREST = <PoseTreeAccessMethod.NEAREST: 0>

PREVIOUS = <PoseTreeAccessMethod.PREVIOUS: 5>

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeAccessMethod, value: int) → None

property name

property value

class holoscan.pose_tree.PoseTreeManager

Bases: holoscan.core._core.ResourceBase, holoscan.core._core.DistributedAppService

Manage a shared PoseTree instance as a FragmentService.

This resource creates and holds a holoscan.pose_tree.PoseTree instance, making it accessible to multiple components within the same fragment. When used in a distributed application, it can synchronize the pose tree across driver and worker processes.

Typical usage:

# In Application.compose() pose_tree_manager = PoseTreeManager(self, name=”pose_tree_manager”) self.register_service(pose_tree_manager)

# In Operator.__init__() self.pose_tree = self.service(PoseTreeManager, “pose_tree_manager”).tree

Notes

Experimental Feature. The Pose Tree API may change in future releases.

Attributes

`args`	The list of arguments associated with the component.
`description`	YAML formatted string describing the resource.
`fragment`	Fragment that the resource belongs to.
`id`	The identifier of the component.
`name`	The name of the resource.
`resource`	The resource associated with the service.
`resource_type`	Resource type.
`tree`	Get the managed PoseTree instance.

spec

Methods

`add_arg`(args, *kwargs)	Overloaded function.
`driver_shutdown`(self)	Shut down the driver-side service.
`driver_start`(self, driver_ip)	Start the driver-side service.
`initialize`(self)	initialization method for the resource.
`service`(self, service_type[, id])	Retrieve a registered fragment service through the component's fragment.
`setup`(self, arg0)	setup method for the resource.
`worker_connect`(self, driver_ip)	Connect the worker-side service to the driver.
`worker_disconnect`(self)	Disconnect the worker-side service from the driver.

ResourceType

class ResourceType

Bases: pybind11_builtins.pybind11_object

Members:

NATIVE

GXF

Attributes

name

value

GXF = <ResourceType.GXF: 1>

NATIVE = <ResourceType.NATIVE: 0>

__init__(self: holoscan.core._core.ResourceBase.ResourceType, value: int) → None

property name

property value

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeManager, fragment: Union[holoscan.core._core.Fragment, holoscan.core._core.Subgraph], port: int = 13337, number_frames: int = 1024, number_edges: int = 16384, history_length: int = 1048576, default_number_edges: int = 16, default_history_length: int = 1024, edges_chunk_size: int = 4, history_chunk_size: int = 64, request_timeout_ms: int = 5000, request_poll_sleep_us: int = 10, worker_progress_sleep_us: int = 100, server_shutdown_timeout_ms: int = 1000, server_shutdown_poll_sleep_ms: int = 10, maximum_clients: int = 1024, name: str = 'noname_resource') → None

Create a PoseTreeManager resource.

Parameters

fragmentholoscan.core.Fragment: The fragment that the resource belongs to.
portint, optional: Port for the UCX server to listen on in a distributed setup. Defaults to 13337.
number_framesint, optional: Maximum number of coordinate frames. Defaults to 1024.
number_edgesint, optional: Maximum number of edges (direct transformations). Defaults to 16384.
history_lengthint, optional: Total capacity for historical pose data. Defaults to 1048576.
default_number_edgesint, optional: Default edges allocated per new frame. Defaults to 16.
default_history_lengthint, optional: Default history capacity per new edge. Defaults to 1024.
edges_chunk_sizeint, optional: Allocation chunk size for a frame’s edge list. Defaults to 4.
history_chunk_sizeint, optional: Allocation chunk size for an edge’s history buffer. Defaults to 64.
request_timeout_msint, optional: UCX client request timeout in milliseconds. Defaults to 5000.
request_poll_sleep_usint, optional: UCX client polling sleep interval in microseconds. Defaults to 10.
worker_progress_sleep_usint, optional: UCX progress loop sleep interval in microseconds. Defaults to 100.
server_shutdown_timeout_msint, optional: UCX server shutdown timeout in milliseconds. Defaults to 1000.
server_shutdown_poll_sleep_msint, optional: UCX server shutdown polling interval in milliseconds. Defaults to 10.
maximum_clientsint, optional: Maximum number of UCX clients. Defaults to 1024.
namestr, optional: The name of the resource.

add_arg(*args, **kwargs)

Overloaded function.

add_arg(self: holoscan.core._core.ComponentBase, arg: holoscan.core._core.Arg) -> None

Add an argument to the component.

add_arg(self: holoscan.core._core.ComponentBase, arg: holoscan.core._core.ArgList) -> None

Add a list of arguments to the component.

property args

The list of arguments associated with the component.

Returns

arglistholoscan.core.ArgList

property description: YAML formatted string describing the resource.

driver_shutdown(self: holoscan.core._core.DistributedAppService) → None: Shut down the driver-side service.

driver_start(self: holoscan.core._core.DistributedAppService, driver_ip: str) → None: Start the driver-side service.

property fragment

Fragment that the resource belongs to.

Returns

nameholoscan.core.Fragment

property id

The identifier of the component.

The identifier is initially set to -1, and will become a valid value when the component is initialized.

With the default executor (holoscan.gxf.GXFExecutor), the identifier is set to the GXF component ID.

Returns

idint

initialize(self: holoscan.core._core.ResourceBase) → None: initialization method for the resource.

property name

The name of the resource.

Returns

namestr

property resource: The resource associated with the service.

property resource_type

Resource type.

holoscan.core.Resource.ResourceType enum representing the type of the resource. The two types currently implemented are NATIVE and GXF.

service(self: object, service_type: type, id: str = '') → object

Retrieve a registered fragment service through the component’s fragment.

This method delegates to the fragment’s service() method to retrieve a previously registered fragment service by its type and optional identifier. Returns None if no fragment service is found with the specified type and identifier.

Parameters

service_typetype: The type of the fragment service to retrieve. Must be a type that inherits from Resource or FragmentService.
idstr, optional: The identifier of the fragment service. If empty, retrieves by service type only. For Resources, this would typically be the resource’s name.

Returns

object or None: The fragment service instance of the requested type, or None if not found. If the service wraps a Resource and a Resource type is requested, the unwrapped Resource instance is returned.

Raises

RuntimeError: If the component has no associated fragment or if the fragment’s service method cannot be accessed.

Notes

This is a convenience method that internally calls the fragment’s service() method. For services that wrap Resources, the method will automatically unwrap and return the Resource if a Resource type is requested.

setup(self: holoscan.core._core.ResourceBase, arg0: holoscan.core._core.ComponentSpec) → None: setup method for the resource.

property spec

property tree: Get the managed PoseTree instance.

worker_connect(self: holoscan.core._core.DistributedAppService, driver_ip: str) → None: Connect the worker-side service to the driver.

worker_disconnect(self: holoscan.core._core.DistributedAppService) → None: Disconnect the worker-side service from the driver.

class holoscan.pose_tree.PoseTreeUCXClient

Bases: pybind11_builtins.pybind11_object

Attributes

is_running

Methods

`connect`(self, host, port, request_snapshot)
`disconnect`(self)
`error_to_str`(arg0)

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeUCXClient, pose_tree: holoscan.pose_tree._pose_tree.PoseTree, config: holoscan.pose_tree._pose_tree.PoseTreeUCXClientConfig = <holoscan.pose_tree._pose_tree.PoseTreeUCXClientConfig object at 0x7f4e2eb37970>) → None

connect(self: holoscan.pose_tree._pose_tree.PoseTreeUCXClient, host: str, port: int, request_snapshot: bool) → None

disconnect(self: holoscan.pose_tree._pose_tree.PoseTreeUCXClient) → None

static error_to_str(arg0: holoscan.pose_tree._pose_tree.PoseTreeUCXClientError) → str

property is_running

class holoscan.pose_tree.PoseTreeUCXClientConfig

Bases: pybind11_builtins.pybind11_object

Attributes

request_poll_sleep_us
request_timeout_ms
worker_progress_sleep_us

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeUCXClientConfig) → None

property request_poll_sleep_us

property request_timeout_ms

property worker_progress_sleep_us

class holoscan.pose_tree.PoseTreeUCXServer

Bases: pybind11_builtins.pybind11_object

Attributes

is_running

Methods

`error_to_str`(arg0)
`start`(self, port)
`stop`(self)

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeUCXServer, pose_tree: holoscan.pose_tree._pose_tree.PoseTree, config: holoscan.pose_tree._pose_tree.PoseTreeUCXServerConfig = <holoscan.pose_tree._pose_tree.PoseTreeUCXServerConfig object at 0x7f4e2d7e6e70>) → None

static error_to_str(arg0: holoscan.pose_tree._pose_tree.PoseTreeUCXServerError) → str

property is_running

start(self: holoscan.pose_tree._pose_tree.PoseTreeUCXServer, port: int) → None

stop(self: holoscan.pose_tree._pose_tree.PoseTreeUCXServer) → None

class holoscan.pose_tree.PoseTreeUCXServerConfig

Bases: pybind11_builtins.pybind11_object

Attributes

maximum_clients
shutdown_poll_sleep_ms
shutdown_timeout_ms
worker_progress_sleep_us

__init__(self: holoscan.pose_tree._pose_tree.PoseTreeUCXServerConfig) → None

property maximum_clients

property shutdown_poll_sleep_ms

property shutdown_timeout_ms

property worker_progress_sleep_us

class holoscan.pose_tree.SO2

Bases: pybind11_builtins.pybind11_object

Methods

`angle`(self)
`cos`(self)
`from_angle`(arg0)
`from_direction`(arg0)
`from_normalized`(arg0)
`identity`()
`inverse`(self)
`matrix`(self)
`sin`(self)

__init__(self: holoscan.pose_tree._pose_tree.SO2) → None

angle(self: holoscan.pose_tree._pose_tree.SO2) → float

cos(self: holoscan.pose_tree._pose_tree.SO2) → float

static from_angle(arg0: float) → holoscan.pose_tree._pose_tree.SO2

static from_direction(arg0: numpy.ndarray[numpy.float64[2, 1]]) → holoscan.pose_tree._pose_tree.SO2

static from_normalized(arg0: numpy.ndarray[numpy.float64[2, 1]]) → holoscan.pose_tree._pose_tree.SO2

static identity() → holoscan.pose_tree._pose_tree.SO2

inverse(self: holoscan.pose_tree._pose_tree.SO2) → holoscan.pose_tree._pose_tree.SO2

matrix(self: holoscan.pose_tree._pose_tree.SO2) → numpy.ndarray[numpy.float64[2, 2]]

sin(self: holoscan.pose_tree._pose_tree.SO2) → float

class holoscan.pose_tree.SO3

Bases: pybind11_builtins.pybind11_object

Attributes

quaternion

Methods

`angle`(self)
`axis`(self)
`euler_angles_rpy`(self)
`from_axis_angle`(arg0, arg1)
`from_matrix`(arg0)
`from_normalized_quaternion`(arg0)
`from_quaternion`(arg0)
`from_scaled_axis`(arg0)
`from_so2_xy`(arg0)
`identity`()
`inverse`(self)
`matrix`(self)

__init__(self: holoscan.pose_tree._pose_tree.SO3) → None

angle(self: holoscan.pose_tree._pose_tree.SO3) → float

axis(self: holoscan.pose_tree._pose_tree.SO3) → numpy.ndarray[numpy.float64[3, 1]]

euler_angles_rpy(self: holoscan.pose_tree._pose_tree.SO3) → numpy.ndarray[numpy.float64[3, 1]]

static from_axis_angle(arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: float) → holoscan.pose_tree._pose_tree.SO3

static from_matrix(arg0: numpy.ndarray[numpy.float64[3, 3]]) → holoscan.pose_tree._pose_tree.SO3

static from_normalized_quaternion(arg0: numpy.ndarray[numpy.float64[4, 1]]) → holoscan.pose_tree._pose_tree.SO3

static from_quaternion(arg0: numpy.ndarray[numpy.float64[4, 1]]) → holoscan.pose_tree._pose_tree.SO3

static from_scaled_axis(arg0: numpy.ndarray[numpy.float64[3, 1]]) → holoscan.pose_tree._pose_tree.SO3

static from_so2_xy(arg0: holoscan.pose_tree._pose_tree.SO2) → holoscan.pose_tree._pose_tree.SO3

static identity() → holoscan.pose_tree._pose_tree.SO3

inverse(self: holoscan.pose_tree._pose_tree.SO3) → holoscan.pose_tree._pose_tree.SO3

matrix(self: holoscan.pose_tree._pose_tree.SO3) → numpy.ndarray[numpy.float64[3, 3]]

property quaternion

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