pytransform3d

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, DOI