Spawn a subprocess with standard logging and process-group setup.

Convert a rotation matrix to a quaternion [x, y, z, w].

Load occupancy_grid.npy / occupancy_meta.npy from *map_path* and return (png_bytes, metadata_dict). Grid values: 0 = unknown, 1 = free,

Scale helper to convert logical scaler values to physical using passed in scale factor

Unified pose estimation function with cache support.

Query pose at a specific timestamp with interpolation. Args: target_timestamp: Target timestamp in nanoseconds

A "C-style" version of run_raycasting that uses explicit loops instead of NumPy vector operations, designed for optimal Numba performance.

Return a concrete shape for a tensor, resolving dynamic dims via the profile if needed.

Put item onto queue, dropping the oldest entry if full.

World control-center position derived from camera pose T_cam->world.

Returns (front_len, rear_len, half_w) relative to control center.

Get the observation relations for bundle adjustment. The relations are used to construct the observation matrix for bundle adjustment

Solve the bundle adjustment problem.

Get the landmark ID for a given image timestamp and keypoint index. If no landmark is found, generate a new one.

Fast hashing strategy: - full hash if array has <= 10k elements - partial hash (1/10 sampling) if larger Ensures the buffer we gi

Start sensor procs based on current _sensor_mode.

Parse calib.txt written by perception_node / extract_stereo_from_rosbag. Expected format: line 1: header line 2-4: 3x3 K matrix (

Build a hashable key assuming: - args may contain numpy arrays but not nested lists/tuples/dicts - kwargs same assumption

Open a timestamped log file under tinynav_db/logs/. Safe to close in parent after Popen — the child process inherits its own fd copy at fork t

Publish the selected POI to map_node as JSON on /mapping/cmd_pois. Sending an empty dict clears the current nav target. Returns whether a