pywayne-visualization-pangolin-utils

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
)