pywayne-vio-tools
CommunitySE(3) pose utilities for VIO pipelines.
Authorwangyendt
Version1.0.0
Installs0
System Documentation
What problem does it solve?
SE(3) pose conversions and 3D visualization are common bottlenecks in VIO workflows. This tool provides utilities to convert SE(3) transformation matrices into pose representations and visualize pose trajectories, enabling smoother integration into analysis pipelines.
Core Features & Use Cases
- SE3_to_pose: convert a 4x4 SE(3) matrix to a [tx, ty, tz, qw, qx, qy, qz] pose.
- pose_to_SE3: convert a pose back to a 4x4 SE(3) matrix.
- visualize_pose: render 3D trajectories with orientation axes for quick diagnostic plots.
- Use Case: verify a sequence of VIO estimates by converting to poses and visualizing trajectory alignment.
Quick Start
Run SE3_to_pose on a sample 4x4 SE(3) matrix to obtain a [tx, ty, tz, qw, qx, qy, qz] pose and visualize the trajectory.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
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Please help me install this Skill: Name: pywayne-vio-tools Download link: https://github.com/wangyendt/wayne-skills/archive/main.zip#pywayne-vio-tools Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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