Pywayne VIO Tools Overview Provides utilities for VIO data processing: convert between SE(3) transformation matrices and pose representations, and visualize pose trajectories in 3D with orientation indicators. Quick Start Core Functions SE3 to pose Convert SE(3) transformation matrices to pose representation. Input: - Single 4x4 SE(3) matrix or array of N SE(3) matrices shape (N, 4, 4) Output: - Array shape (7,) or (N, 7) containing [tx, ty, tz, qw, qx, qy, qz] Dependencies: for quaternion extraction pose to SE3 Convert pose representation back to SE(3) transformation matrices. Input: - Singl…