4
$\begingroup$

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

|improve this question
$\endgroup$
5
$\begingroup$

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

|improve this answer
$\endgroup$
3
$\begingroup$

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

|improve this answer
$\endgroup$
3
$\begingroup$

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
|improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.