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.
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
Please put up issues on the transforms3d issue tracker.