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BytesAgain β€Ί Skills β€Ί Pywayne Visualization Rerun Utils
πŸ¦€ ClawHub

Pywayne Visualization Rerun Utils

by @wangyendt

Static 3D visualization utilities wrapping Rerun SDK for adding point clouds, trajectories, cameras, planes, and chessboards. Use when visualizing 3D data in...

Versionv0.1.0
Downloads1,025
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TERMINAL
clawhub install rerun-utils

πŸ“– About This Skill

name: pywayne-visualization-rerun-utils description: Static 3D visualization utilities wrapping Rerun SDK for adding point clouds, trajectories, cameras, planes, and chessboards. Use when visualizing 3D data in Rerun, including SLAM trajectories, robot poses, camera calibration targets, and debug visualizations. All methods are static and do not require viewer instance management. For SE(3)/SO(3) matrix operations, use pywayne-vio-se3 or pywayne-vio-so3 skills.

Pywayne Visualization Rerun Utils

pywayne.visualization.rerun_utils.RerunUtils provides static methods for adding 3D elements to a Rerun viewer.

Quick Start

import numpy as np
import rerun as rr
from pywayne.visualization.rerun_utils import RerunUtils
Initialize Rerun (called once globally)

rr.init('my_app', spawn=True)
Use static methods to add elements

RerunUtils.add_point_cloud(points, colors=[255, 0, 0])
RerunUtils.add_trajectory(trajectory)
RerunUtils.add_camera(pose, image='path/to/image.jpg')

Point Cloud

# Single color (default: red)
RerunUtils.add_point_cloud(points)
Multi-color points

colors = np.random.randint(0, 255, (100, 3))
RerunUtils.add_point_cloud(points, colors=colors, label='colored')
Data format: points (N, 3)

Trajectory

# Single-color trajectory (default: green)
RerunUtils.add_trajectory(trajectory)
Multi-color trajectory

colors = np.array([[0, 255, 0], [255, 0, 0]], dtype=np.float32)
RerunUtils.add_trajectory(trajectory, colors=colors, label='path')
Data format: traj_endpoints (N, 3)

Camera

# Camera only (no image)
RerunUtils.add_camera(pose, label='main_camera')
Camera with image

RerunUtils.add_camera(pose, image='path/to/image.jpg', label='rgb_camera')
Data format: camera_pose (4, 4) or (4, 7)

Plane

# Plane by center and normal
RerunUtils.add_plane_from_center_and_normal(center, normal, half_size=1.0)
Plane from SE3 transformation matrix

RerunUtils.add_plane_from_Twp(Twp, half_size=1.0)

Chessboard

# Standard chessboard
RerunUtils.add_chessboard_from_Twp()
Custom chessboard with colors

RerunUtils.add_chessboard_from_Twp(
    rows=9, cols=6, cell_size=0.025,
    Twp=pose_matrix,
    color1=np.array([255, 0, 0]),  # Red
    color2=np.array([0, 0, 255])   # Blue
    label='calib_board'
)

Internal Helper

# Get quaternion from v1 to v2 (used internally for plane rotation)
quat = RerunUtils._get_quaternion_from_v1_and_v2(v1, v2)

Important Notes

  • Initialization: Call rr.init('name', spawn=True) once before using methods
  • Static methods: All methods are static class methods, no instance needed
  • Dependencies: Requires Rerun SDK (auto-downloaded via gettool)
  • Data types: All position inputs must be float32
  • Coordinates: Rerun uses ViewCoordinates.RDF (robot-centric coordinate system)
  • SE3 poses: Support (4, 4) or (4, 7) matrix formats
  • Color format: RGB as numpy arrays with shape (3,)

    • πŸ’‘ Examples

    import numpy as np
import rerun as rr
from pywayne.visualization.rerun_utils import RerunUtils
    Initialize Rerun (called once globally)
    
rr.init('my_app', spawn=True)
    Use static methods to add elements
    
RerunUtils.add_point_cloud(points, colors=[255, 0, 0])
RerunUtils.add_trajectory(trajectory)
RerunUtils.add_camera(pose, image='path/to/image.jpg')