AgentSkillsCN

pywayne-visualization-rerun-utils

静态 3D 可视化实用工具，封装 Rerun SDK，可用于添加点云、轨迹、相机、平面以及棋盘等元素。当您需要在 Rerun 中可视化 3D 数据，包括 SLAM 轨迹、机器人位姿、相机标定目标，以及各类调试可视化时，此工具包将助您一臂之力。所有方法均为静态，无需管理查看器实例。若需进行 SE(3)/SO(3) 矩阵运算，建议使用 pywayne-vio-se3 或 pywayne-vio-so3 技能。

SKILL.md
--- frontmatter
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

python
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

python
# 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

python
# 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

python
# 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

python
# 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

python
# 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

python
# 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,)