3D transforms - possible merge
Project description
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.
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