ezpose
A Python package for working with 3D transformations and poses.
This package aims to extend scipy.spatial.transform.Rotation class to work with rigid transformations(i.e. SE(3) poses).
Installation
To install this package, you can use pip:
pip install ezpose
Usage
Here's an example of how to use this package:
from ezpose import SE3, SO3
# Create a random 3D transformation
transform = SE3.random()
# Apply the transformation to a vector
vector = np.array([1, 2, 3])
transformed_vector = transform.apply(vector)
# Multiply two transformations
transform2 = SE3.random()
result = transform.multiply(transform2)
API Reference
Here's a list of the classes and functions in this package:
-
SO3: A class representing a 3D rotation matrix in SO(3).- this is a subclass of
scipy.spatial.transform.Rotation
- this is a subclass of
-
SE3: A class representing a 3D transformation matrix in SE(3).random(): A method to generate a random SE3 object.apply(): A method to apply the transformation to a vector.multiply(): A method to multiply two SE3 objects. (= pose1 @ pose2)inv(): A method to return the inverse of the transformation.lookat(): A method that returns the view matrix from the given camera position to the target position.as_matrix(): A method to convert the transformation to a 4x4 matrix.as_xyz_qtn(): A method to convert the transformation to a numpy array of (position, quaternion).
License
This package is licensed under the MIT License.
1 maintainer
Metadata
1 maintainer
Release files for ezpose 0.1.18
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
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| ezpose-0.1.18.tar.gz | 6.3 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| ezpose-0.1.18-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 11.9 kB
Release files / ezpose-0.1.18.tar.gz
| Download URL | ezpose-0.1.18.tar.gz |
|---|---|
| Size | 6.3 kB |
| Tags | Source |
|
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Release files / ezpose-0.1.18-py3-none-any.whl
| Download URL | ezpose-0.1.18-py3-none-any.whl |
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| Size | 5.5 kB |
| Tags | Python 3 |
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