ASL Utility

This is a utility library mostly concerned with Numpy and spactial transformation helpers.

The main component is the asl_utility.transform package. This contains multiple classes concerned with rotation, transformation & translation.

• Vector3: 3d translation, offset or position in cartesian space
• Quaternion: 3d rotation and orientation in cartesian space
• Transformaton: 3d transformation (translate, rotate & scale) in cartesian space.

Furthermore, it has some interface and data holder classes to support these main components. Check the module and class documnentation for more details.

Installation

This library is available on PyPi.

pip install asl-utility

Example usage

import numpy as np
from asl_utility import transform_helpers

rot1 = transform_helpers.Quaternion.from_axis_and_angle((1, 0, 0), np.pi/4)  # 45° around x-axis
rot2 = transform_helpers.Quaternion.from_euler("XYZ", [0, 0, 30], degrees=True)

rotation = rot1 * rot2 
translation = transform_helpers.Vector3([42, 13, 37])

camera_to_world = transform_helpers.Transformation.from_translation_and_rotation(translation, rotation)
world_to_camera = camera_to_world.invert()

pos_in_cam = np.asarray([10, 20, 30])

pos_in_world = camera_to_world.apply_vector(pos_in_cam)
pos_in_cam2 = world_to_camera.apply_vector(pos_in_world)