Convert SE(3) matrices to pose representations and visualize trajectories.
npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-vio-tools
Please help me install this Agent Skill. Skill: pywayne-vio-tools Source: https://github.com/wangyendt/wayne-skills/tree/main/pywayne/vio/tools Command: npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-vio-tools
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.
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.
High-intent search queries and answers about installing and using this skill.
You convert an SE(3) matrix using the SE3_to_pose utility, which transforms a 4x4 transformation matrix into a [tx, ty, tz, qw, qx, qy, qz] pose representation. This handles single or batch inputs for VIO workflows.
Visualize VIO pose trajectories using the visualize_pose utility, which renders 3D trajectories with orientation axes. This generates quick diagnostic plots to verify sequence alignment and pose estimates.
Yes, you can convert a pose back to a 4x4 SE(3) matrix. The pose_to_SE3 utility takes a [tx, ty, tz, qw, qx, qy, qz] representation and reconstructs the original 4x4 SE(3) transformation matrix.
Yes, you need numpy and quaternion utilities to extract poses from SE(3) matrices. These dependencies are required to perform the mathematical conversions and generate plotting data within VIO pipelines.
Yes, this SE(3) pose tool supports batch inputs for 3D visualization tasks. It handles batch inputs for pose extraction and transformation, enabling smooth integration into analysis pipelines.
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