frame-transforms 0.2.0

Automatically compute and apply coordinate frame transformations

Description

FrameTransforms is a lightweight, native Python pacakge to simplify frame transformations. It supports:

1. Registration and update of relative coordinate frames.
2. Automatic computation of transitive transformations.
3. Multithreaded access.

Application

Consider a simple robot consisting of a mobile base and a camera mounted on a gimbal.

The camera detects an obstacle in its coordinate frame. Where is it in world frame?

registry.update(Frame.WORLD, Frame.BASE, base_pose)
registry.update(Frame.BASE, Frame.CAMERA, camera_pose)

# Locations are in homogenous coordinates
obstacle_in_world = registry.get_transform(Frame.CAMERA, Frame.WORLD) @ obstacle_in_camera

Examples