Requirements
- Target platform
- OpenClaw
- Install method
- Manual import
- Extraction
- Extract archive
- Prerequisites
- OpenClaw
- Primary doc
- SKILL.md
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Pywayne Visualization Pangolin Utils
3D visualization toolkit wrapping Pangolin viewer for real-time display of point clouds, trajectories, cameras, planes, chessboards, and images. Use when vis...
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3D visualization toolkit wrapping Pangolin viewer for real-time display of point clouds, trajectories, cameras, planes, chessboards, and images. Use when vis...
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Install for OpenClaw
Quick setup
- Download the package from Yavira.
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Package facts
- Download mode
- Yavira redirect
- Package format
- ZIP package
- Source platform
- Tencent SkillHub
- What's included
- SKILL.md
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Trust & source
Release facts
- Source
- Tencent SkillHub
- Verification
- Indexed source record
- Version
- 0.1.0
Provenance
- Publisher
- wangyendt
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Documentation
Pywayne Visualization Pangolin Utils
pywayne.visualization.pangolin_utils.PangolinViewer provides a Python interface to Pangolin 3D visualization library.
Quick Start
from pywayne.visualization.pangolin_utils import PangolinViewer, Colors import numpy as np # Create viewer viewer = PangolinViewer(800, 600) viewer.init() # Run visualization loop while viewer.should_not_quit(): # ... add/update visual elements ... viewer.show(delay_time_in_s=0.03) viewer.join() # Wait for window to close
Colors
Use Colors class for common colors: Colors.RED # [1.0, 0.0, 0.0] Colors.GREEN # [0.0, 1.0, 0.0] Colors.BLUE # [0.0, 0.0, 1.0] Colors.YELLOW # [1.0, 1.0, 0.0] Colors.CYAN # [0.0, 1.0, 1.0] Colors.MAGENTA # [1.0, 0.0, 1.0] Colors.WHITE # [1.0, 1.0, 1.0] Colors.BLACK # [0.0, 0.0, 0.0] Colors.ORANGE # [1.0, 0.5, 0.0] Colors.PURPLE # [0.5, 0.5, 0.5] Colors.GRAY # [0.5, 0.5, 0.5] Colors.BROWN # [0.6, 0.3, 0.1] Colors.PINK # [1.0, 0.75, 0.8]
Core Control
viewer.run() # Start main loop (blocking) viewer.close() # Close viewer viewer.join() # Wait for process to end viewer.reset() # Reset viewer state viewer.init() # Initialize view (set initial camera) viewer.show(0.03) # Render frame with delay (s) viewer.should_not_quit() # Check if viewer should continue viewer.clear_all_visual_elements() # Clear all elements
Point Cloud
# Clear all points viewer.clear_all_points() # Add single-color points (default: red) viewer.add_points(points, point_size=4.0) # Add points with custom colors viewer.add_points_with_colors(points, colors, point_size=4.0) # Add points with named color viewer.add_points_with_color_name(points, color_name="red", point_size=4.0) # Data format: points (N, 3), colors (N, 3)
Trajectory
# Clear all trajectories viewer.clear_all_trajectories() # Add trajectory with quaternions (positions + orientations) viewer.add_trajectory_quat( positions, # (N, 3) orientations, # (N, 4) or (N, 7) depending on quat_format color=Colors.GREEN, quat_format="wxyz", # "wxyz" or "xyzw" line_width=2.0, show_cameras=True, # Show camera models along trajectory camera_size=0.05 ) # Add trajectory with SE3 poses viewer.add_trajectory_se3( poses_se3, # (N, 4) or (N, 7) color=Colors.GREEN, line_width=2.0, show_cameras=False )
Camera
# Clear all cameras viewer.clear_all_cameras() # Set main camera (view follows this camera) viewer.set_main_camera(camera_id) # Add camera with quaternion cam_id = viewer.add_camera_quat( position, # (3,) orientation, # (4,) or (7) depending on quat_format color=Colors.YELLOW, quat_format="wxyz", scale=0.1, line_width=1.0 ) # Add camera with SE3 pose cam_id = viewer.add_camera_se3( pose_se3, # (4,) or (7) color=Colors.YELLOW, scale=0.1, line_width=1.0 )
Plane
# Clear all planes viewer.clear_all_planes() # Add plane by vertices viewer.add_plane( vertices, # (>=3, 3) color=Colors.GRAY, alpha=0.5, # Transparency 0-1 label="plane" ) # Add plane by normal + center viewer.add_plane_normal_center( normal, # (3,) - direction of plane normal center, # (3,) - center point size, # half-size (distance from center to edge) color=Colors.GRAY, alpha=0.5, label="plane" ) # Add plane from SE3 transformation viewer.add_plane_from_Twp( Twp, # (4, 4) - world pose matrix size=1.0, color=Colors.GREEN, alpha=0.5, label="plane" )
Chessboard
Useful for camera calibration and spatial reference: # Add chessboard on XY plane viewer.add_chessboard(rows=8, cols=8, cell_size=0.1) # Add chessboard on custom plane with normal viewer.add_chessboard( rows=9, cols=6, cell_size=0.025, origin=np.array([0, 0, 0]), normal=np.array([1, 0, 0]), # YZ plane color1=Colors.RED, color2=Colors.YELLOW, alpha=0.8 ) # Add chessboard from SE3 transformation viewer.add_chessboard_from_Twp( rows=9, cols=6, cell_size=0.025, Twp=pose_matrix, color1=Colors.BLACK, color2=Colors.WHITE, alpha=0.8, label="calib" )
Line
viewer.clear_all_lines() viewer.add_line( start_point, # (3,) end_point, # (3,) color=Colors.WHITE, line_width=1.0 )
Image Display
# Set image resolution viewer.set_img_resolution(width, height) # Add left image viewer.add_image_1(img_array) # Use numpy array viewer.add_image_1(image_path="path.jpg") # Use file path # Add right image viewer.add_image_2(img_array) viewer.add_image_2(image_path="path.jpg")
Step Mode (Debugging)
viewer.is_step_mode_active() # Check if step mode is active viewer.wait_for_step() # Wait for step trigger
Important Notes
Dependencies: Requires Pangolin library (auto-downloaded via gettool) Data types: All position/point inputs must be float32 Quaternion formats: Support wxyz and xyzw formats SE3 poses: Support (4, 4) or (4, 7) matrix formats Automatic cleaning: clear_all_visual_elements() clears points, trajectories, cameras, planes, lines Camera following: Use set_main_camera() with camera ID from add_camera_*() return
Category context
Code helpers, APIs, CLIs, browser automation, testing, and developer operations.
Source: Tencent SkillHub
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Package contents
Included in package
1 Docs
- SKILL.md