Transforms in 3D¶

Transform 3D points between frames¶

py123d.geometry.transform.convert_absolute_to_relative_points_3d_array(origin, points_3d_array)[source]¶

Converts 3D points from the absolute frame to the relative frame.

Parameters:

origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The origin state in the absolute frame, as a PoseSE3 or np.ndarray.
points_3d_array (ndarray[tuple[Any, ...], dtype[float64]]) – The 3D points in the absolute frame.

Raises:

TypeError – If the origin is not a PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The 3D points in the relative frame, indexed by Point3DIndex.

py123d.geometry.transform.convert_relative_to_absolute_points_3d_array(origin, points_3d_array)[source]¶

Converts 3D points from the relative frame to the absolute frame.

Parameters:

origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The origin state in the absolute frame, as a PoseSE3 or np.ndarray.
points_3d_array (ndarray[tuple[Any, ...], dtype[float64]]) – The 3D points in the relative frame, indexed by Point3DIndex.

Raises:

TypeError – If the origin is not a PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The 3D points in the absolute frame, indexed by Point3DIndex.

py123d.geometry.transform.convert_points_3d_array_between_origins(from_origin, to_origin, points_3d_array)[source]¶

Converts 3D points from one origin frame to another origin frame.

Parameters:

from_origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The source origin state in the absolute frame, as a PoseSE3 or np.ndarray.
to_origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The target origin state in the absolute frame, as a PoseSE3 or np.ndarray.
points_3d_array (ndarray[tuple[Any, ...], dtype[float64]]) – The 3D points in the source origin frame.

Raises:

TypeError – If the origins are not PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The 3D points in the target origin frame, indexed by Point3DIndex.

Transform SE3 poses between frames¶

py123d.geometry.transform.convert_absolute_to_relative_se3_array(origin, se3_array)[source]¶

Converts an SE3 array from the absolute frame to the relative frame.

Parameters:

origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The origin state in the absolute frame, as a PoseSE3 or np.ndarray.
se3_array (ndarray[tuple[Any, ...], dtype[float64]]) – The SE3 array in the absolute frame.

Raises:

TypeError – If the origin is not a PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The SE3 array in the relative frame, indexed by PoseSE3Index.

py123d.geometry.transform.convert_relative_to_absolute_se3_array(origin, se3_array)[source]¶

Converts an SE3 array from the relative frame to the absolute frame.

Parameters:

origin (PoseSE3) – The origin state in the relative frame, as a PoseSE3 or np.ndarray.
se3_array (ndarray[tuple[Any, ...], dtype[float64]]) – The SE3 array in the relative frame.

Raises:

TypeError – If the origin is not a PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The SE3 array in the absolute frame, indexed by PoseSE3Index.

py123d.geometry.transform.convert_se3_array_between_origins(from_origin, to_origin, se3_array)[source]¶

Converts an SE3 array from one origin frame to another origin frame.

Parameters:

from_origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The source origin state in the absolute frame, as a PoseSE3 or np.ndarray.
to_origin (Union[PoseSE3, ndarray[tuple[Any, ...], dtype[float64]]]) – The target origin state in the absolute frame, as a PoseSE3 or np.ndarray.
se3_array (ndarray[tuple[Any, ...], dtype[float64]]) – The SE3 array in the source origin frame.

Raises:

TypeError – If the origins are not PoseSE3 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The SE3 array in the target origin frame, indexed by PoseSE3Index.

Translation along frame axes¶

py123d.geometry.transform.translate_se3_along_body_frame(pose_se3, vector_3d)[source]¶

Translates a SE3 state along a vector in the body frame.

Parameters:

pose_se3 (PoseSE3) – The SE3 state to translate.
vector_3d (Vector3D) – The vector to translate along in the body frame.

Return type:

PoseSE3

Returns:

The translated SE3 state.

py123d.geometry.transform.translate_se3_along_x(pose_se3, distance)[source]¶

Translates a SE3 state along the X-axis.

Parameters:

pose_se3 (PoseSE3) – The SE3 state to translate.
distance (float) – The distance to translate along the X-axis.

Return type:

PoseSE3

Returns:

The translated SE3 state.

py123d.geometry.transform.translate_se3_along_y(pose_se3, distance)[source]¶

Translates a SE3 state along the Y-axis.

Parameters:

pose_se3 (PoseSE3) – The SE3 state to translate.
distance (float) – The distance to translate along the Y-axis.

Return type:

PoseSE3

Returns:

The translated SE3 state.

py123d.geometry.transform.translate_se3_along_z(pose_se3, distance)[source]¶

Translates an SE3 state along the Z-axis.

Parameters:

pose_se3 (PoseSE3) – The SE3 state to translate.
distance (float) – The distance to translate along the Z-axis.

Return type:

PoseSE3

Returns:

The translated SE3 state.

py123d.geometry.transform.translate_3d_along_body_frame(points_3d, quaternions, translation)[source]¶

Translates 3D points along a vector in the body frame defined by quaternions.

Parameters:

points_3d (ndarray[tuple[Any, ...], dtype[float64]]) – Array of 3D points, index by Point3DIndex.
quaternions (ndarray[tuple[Any, ...], dtype[float64]]) – Array of quaternions, index by QuaternionIndex.
translation (ndarray[tuple[Any, ...], dtype[float64]]) – Array of translation vectors, index by Vector3DIndex.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The translated 3D points in the world frame, index by Point3DIndex.