holoscan.pose_tree

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

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.

1. __init__(self: holoscan.pose_tree._pose_tree.Pose2) -> None

2. __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.

1. __init__(self: holoscan.pose_tree._pose_tree.Pose3) -> None

2. __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])
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.

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

create_edges(*args, **kwargs)

Overloaded function.

1. 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

2. 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

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

delete_edge(*args, **kwargs)

Overloaded function.

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

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

delete_frame(*args, **kwargs)

Overloaded function.

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

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

disconnect_edge(*args, **kwargs)

Overloaded function.

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

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

disconnect_frame(*args, **kwargs)

Overloaded function.

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

2. 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.

1. 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

2. 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.

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

2. 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.

1. 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

2. 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.

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

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

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

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

class holoscan.pose_tree.PoseTreeAccessMethod

Bases: pybind11_builtins.pybind11_object

Members:

NEAREST

INTERPOLATE_LINEARLY

EXTRAPOLATE_LINEARLY

INTERPOLATE_SLERP

EXTRAPOLATE_SLERP

PREVIOUS

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(fragment, *args, port=13337, number_frames=1024, number_edges=16384, history_length=1048576, default_number_edges=16, default_history_length=1024, edges_chunk_size=4, history_chunk_size=64, request_timeout_ms=5000, request_poll_sleep_us=10, worker_progress_sleep_us=100, server_shutdown_timeout_ms=1000, server_shutdown_poll_sleep_ms=10, **kwargs)

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

Manage a shared PoseTree instance as a FragmentService, with optional distribution.

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 a driver and worker processes.

To use it, register an instance of PoseTreeManager with the fragment in your application’s compose method:

# In Application.compose() pose_tree_manager = PoseTreeManager(

self, name=”pose_tree”, **self.kwargs(“my_pose_tree_config”)

) self.register_service(pose_tree_manager)

Operators can then access the underlying PoseTree instance via the service() method:

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

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.

namestr, optional

The name of the resource.

Notes

Experimental Feature The Pose Tree feature is experimental. The 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_type	Resource type.
tree	Get the managed PoseTree instance.

spec

Methods

add_arg(*args, **kwargs)	Overloaded function.
driver_shutdown()	Stop the PoseTreeUCXServer on the driver.
driver_start(_driver_ip)	Start the PoseTreeUCXServer on the driver.
initialize(self)	initialization method for the resource.
resource([_new_resource])	The resource associated with the service.
service(self, service_type[, id])	Retrieve a registered fragment service through the component's fragment.
setup(spec)	Default implementation of setup method.
worker_connect(driver_ip)	Connect the worker's PoseTreeUCXClient to the driver.
worker_disconnect()	Disconnect the worker's PoseTreeUCXClient.

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.Resource.ResourceType, value: int) → None

property name

property value

__init__(self: holoscan.core._core.Resource, arg0: object, arg1: holoscan::Fragment, *args, **kwargs) → None

Class representing a resource.

Can be initialized with any number of Python positional and keyword arguments.

If a name keyword argument is provided, it must be a str and will be used to set the name of the resource.

If a fragment keyword argument is provided, it must be of type holoscan.core.Fragment (or holoscan.core.Application). A single Fragment object can also be provided positionally instead.

Any other arguments will be cast from a Python argument type to a C++ Arg and stored in self.args. (For details on how the casting is done, see the py_object_to_arg utility).

Parameters

*args

Positional arguments.

**kwargs

Keyword arguments.

Raises

RuntimeError

If name kwarg is provided, but is not of str type. If multiple arguments of type Fragment are provided. If any other arguments cannot be converted to Arg type via py_object_to_arg.

add_arg(*args, **kwargs)

Overloaded function.

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

Add an argument to the component.

2. 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()

Stop the PoseTreeUCXServer on the driver.

driver_start(_driver_ip)

Start the PoseTreeUCXServer on the driver.

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.Resource) → None

initialization method for the resource.

property name

The name of the resource.

Returns

namestr

resource(_new_resource=None)

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(spec: holoscan.core._core.PyComponentSpec)

Default implementation of setup method.

property spec

property tree

Get the managed PoseTree instance.

This is the primary method for accessing the pose tree from other components.

Returns

holoscan.pose_tree.PoseTree

The underlying pose tree instance managed by this resource.

worker_connect(driver_ip)

Connect the worker’s PoseTreeUCXClient to the driver.

worker_disconnect()

Disconnect the worker’s PoseTreeUCXClient.

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 0x7f815af66b70>) → 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 0x7f817af39230>) → 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

shutdown_poll_sleep_ms
shutdown_timeout_ms
worker_progress_sleep_us

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

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

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)
quaternion(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: Eigen::Quaternion<double, 0>) → holoscan.pose_tree._pose_tree.SO3

static from_quaternion(arg0: Eigen::Quaternion<double, 0>) → 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]]

quaternion(self: holoscan.pose_tree._pose_tree.SO3) → Eigen::Quaternion<double, 0>