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I am currently googling on this topic but I would like to hear your opinion.

What is the best self-contained SE3 library that offers interconversion between quaternion, rotation vector, transformation matrix?

Those are the functions that I often use for my projects and all implemented in Matlab. And I am looking for an alternative to avoid re-implementing them all in python.

Quaternion2RotVector and its inverse

Quaternion2RotMatrix and its inverse

RotMatrix2RotVector and its inverse

SE3 inverse, the inverse function of each rotation representation

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ROS's tf.transformations.py has self-contained code for doing these functions and can be used without installing ros. In fact, the python code only depends on numpy!

transformations.py

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I wrote my own and learned useful things about numpy and python object initialization in the process. I don't regret it.

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Writing your own package is always the best way to learn. If you want to try something premade here are a few packages to choose from:

  • Robopy, Python3+numpy+scipy, also available from PyPy, this is an evolving Python port of my Robotics Toolbox for MATLAB
  • Sophus C++/Eigen with Python wrappers
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