ezpose 0.1.1

A lightweight library for handling 3D rotations and translations with ease.

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

• 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.