transforms3d 0.2

3D transforms - possible merge

Transforms3d

Code to convert between various geometric transformations.

• Composing rotations / zooms / shears / translations into affine matrix;

• Decomposing affine matrix into rotations / zooms / shears / translations;

• Conversions between different representations of rotations, including:

  • 3x3 Rotation matrices;

  • Euler angles;

  • quaternions.

We have tried to document the algorithms carefully and write clear code in the hope that this code can be a teaching reference. We document the math behind some of the algorithms using sympy in transforms3d/derivations. We would be very pleased if y’all would like to add your own algorithms and derivations - please get a copy of the code from https://github.com/matthew-brett/transforms3d and get on down, algorithmically. Feel free to use the github issue tracker and pull request system to ask for advice and support.

Code

See https://github.com/matthew-brett/transforms3d

Released under the BSD two-clause license - see the file LICENSE in the source distribution.

Much of the code comes from transformations.py by Christoph Gohlke, also released under the BSD license.

travis-ci kindly tests the code automatically under Python 2.6, 2.7, 3.2, 3.3 and 3.4.

We depend on numpy >= 1.5. You could probably make it work on an earlier numpy if you really needed that.

The latest released version is at https://pypi.python.org/pypi/transforms3d

Support

Please put up issues on the transforms3d issue tracker.