pytransform3d

Contents

• Notation
• SO(3): 3D Rotations
• SE(3): 3D Transformations
• Transformation Ambiguities and Conventions
• Euler Angles
• Modeling Transformations
• Managing Transformations
• Camera
• Animations
• API Documentation
• Examples

pytransform3d covers the following groups of transformations.

Group	Description	Representations
SO(3)	3D rotations	unit quaternion, rotation matrix, axis-angle, Euler angles, rotor
SE(3)	3D transformations (rotation and translation)	transformation matrix, translation and unit quaternion, exponential coordinates, logarithm of transformation, unit dual quaternion

Installation

pytransform3d is available at GitHub. The readme there contains installation instructions. This documentation explains how you can work with pytransform3d and with 3D transformations in general.

Citation

If you use pytransform3d for a scientific publication, I would appreciate citation of the following paper:

Fabisch, (2019). pytransform3d: 3D Transformations for Python. Journal of Open Source Software, 4(33), 1159,