Pywayne VIO Tools

Overview

Provides utilities for VIO data processing: convert between SE(3) transformation matrices and pose representations, and visualize pose trajectories in 3D with orientation indicators.

Quick Start

from pywayne.vio.tools import SE3_to_pose, pose_to_SE3, visualize_pose
import numpy as np

# Convert SE(3) to pose
SE3 = np.eye(4)  # Single 4x4 SE(3) matrix
pose = SE3_to_pose(SE3)  # Returns [tx, ty, tz, qw, qx, qy, qz]

# Batch conversion
SE3_array = np.random.randn(10, 4, 4)  # 10 SE(3) matrices
poses = SE3_to_pose(SE3_array)