trafolib 1.0.0

Trafolib: a Python framework for handling transformations in 2D and 3D

Trafolib

The use of 2D and 3D rigid body transformations is common in fields such as robotics and computer vision. This package provides two classes, Trafo2d and Trafo3d, to handle all different representations, such as homogeneous matrices, quaternions, and various flavors of Euler angles. All classes are well tested and documented. The library has few external dependencies and can be easily used in any project requiring transformation computations.

Features

• Class representations for 2D and 3D rigid body transformations
• Conversions from/to rotation matrices, homogeneous matrices, RPY angles, Euler angles, quaternions and Rodrigues vectors
• Inversion and concatenation of transformations
• Transformation of points
• Save to dictionary/JSON, load from dictionary/JSON
• Interpolations of transformations
• Averaging and distance computations
• Visualizations in Matplotlib
• Very well tested in unit tests and various projects
• Permissive License (MIT), code can be used in commercial software

Requirements

• Python >=3.10
• NumPy
• Quaternions in NumPy
• Matplotlib
• pytest and pytest-cov for testing
• Ruff for linting

All dependencies are declared in pyproject.toml.

Installation

It is strongly recommended to use a virtual environment.

For Users (Runtime Only)

This will install the core libraries needed to run Trafolib, without any development tools or tests.

pip install trafolib

2. For Developers

This installation is for contributors who want to run tests or modify the code.

1. Clone the repository:

   git clone https://gitlab.com/proebrock/trafolib.git
   cd trafolib
   

2. Create a virtual environment (recommended):

   python -m venv .venv
   source .venv/bin/activate  # Linux / macOS
   .venv\Scripts\activate     # Windows
   

3. Install the project with development extras:

   pip install -e ".[dev]"
   

4. Run ruff:

   • As a linter:

     ruff check
     

   • As a formatter:

     ruff format
     

5. Run all tests:

   pytest
   

About me and the project

My name is Philipp Roebrock and I work as a lecturer at the Institute for Photonics and Robotics at the University of Applied Sciences of the Grisons FHGR in Chur in Switzerland.

If you have any questions or suggestions please drop and issue or a personal message to philipp DOT roebrock AT fhgr DOT ch.