Pywayne Visualization Rerun Utils

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,)