transforms3d

############ Transforms3d ############

Code to convert between various geometric transformations.

• Composing rotations / zooms / shears / translations into affine matrix;

• Decomposing affine matrix into rotations / zooms / shears / translations;

• Conversions between different representations of rotations, including:

  • 3x3 Rotation matrices;
  • Euler angles;
  • quaternions.

We have tried to document the algorithms carefully and write clear code in the hope that this code can be a teaching reference. We document the math behind some of the algorithms using sympy <http://www.sympy.org>_ in transforms3d/derivations. We would be very pleased if y'all would like to add your own algorithms and derivations - please get a copy of the code from https://github.com/matthew-brett/transforms3d and get on down, algorithmically. Feel free to use the github issue tracker and pull request system to ask for advice and support.

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Documentation

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Documentation for latest released version at http://matthew-brett.github.io/transforms3d

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Code

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See https://github.com/matthew-brett/transforms3d

Released under the BSD two-clause license - see the file LICENSE in the source distribution.

Much of the code comes from transformations.py <http://www.lfd.uci.edu/~gohlke/code/transformations.py.html>_ by Christoph Gohlke, also released under the BSD license.

We use Github actions to test the code automatically under Pythons 3.7 through 3.10.

We depend on numpy >= 1.15. You may be able to make it work on an earlier numpy if you really needed that.

The latest released version is at https://pypi.python.org/pypi/transforms3d

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Support

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Please put up issues on the transforms3d issue tracker <https://github.com/matthew-brett/transforms3d/issues>_.