Compute SE(3) transformations from rotation and translation inputs into 4x4 matrices.
npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-vio-se3
Please help me install this Agent Skill. Skill: pywayne-vio-se3 Source: https://github.com/wangyendt/wayne-skills/tree/main/pywayne/vio/se3 Command: npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-vio-se3
SE3 Rigid Body Transformations provides robust 3D pose operations, enabling consistent rotation-translation handling for robotics, SLAM, and 3D vision pipelines by unifying representation and transformations in a single library.
Experiment with SE3 transformations by constructing a transformation from a rotation matrix and translation vector, then apply SE3_inv and SE3_Log to verify consistency.
High-intent search queries and answers about installing and using this skill.
SE(3) transformations are computed by constructing 4x4 matrices from rotation matrices and translation vectors. You can compose and invert transforms using operations like SE3_from_Rt and SE3_inv for robotics and 3D vision pipelines.
Converting between representations requires mapping quaternion+translation, axis-angle, and Euler-angle inputs to SE(3) matrices. This library supports representation conversions with batch processing for multi-view geometry and trajectory handling.
Lie algebra Exp and Log maps move between se(3) vectors and SE(3) matrices. The SE3_Exp map converts a 6D twist vector into a rigid body transformation, while SE3_Log extracts the twist from an existing 4x4 pose matrix.
SE(3) transformations support batch processing for pose estimation and SLAM applications. Batch operations allow you to compose, invert, and convert multiple camera poses simultaneously across trajectory data.
Pose composition includes clear numerical conventions and error handling to ensure consistency. The library maintains robust transformation handling across single and batched data for operations like SE3_inv, SE3_Exp, and SE3_Log.
SE(3) inversion computes the inverse rigid body transform, essential for camera pose processing and multi-view geometry. The SE3_inv operation reverses rotation and translation, enabling consistent coordinate frame switching in SLAM pipelines.
GuitarAlchemistPerform 3D rotation calculations with quaternions, SLERP, and Euler conversions.
wangyendtWrap Pangolin to render 3D scenes and trajectories from sensor data.
wangyendtConvert SE(3) matrices to pose representations and visualize trajectories.
GuitarAlchemistCalculate inverse kinematics for robot arms and integrate neural ODEs.
