# transforms3d

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## Package

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### Categories

############ Transforms3d ############

Code to convert between various geometric transformations.

• Composing rotations / zooms / shears / translations into affine matrix;

• Decomposing affine matrix into rotations / zooms / shears / translations;

• Conversions between different representations of rotations, including:

• 3x3 Rotation matrices;
• Euler angles;
• quaternions.

We have tried to document the algorithms carefully and write clear code in the hope that this code can be a teaching reference. We document the math behind some of the algorithms using `sympy <http://www.sympy.org>`_ in `transforms3d/derivations`. We would be very pleased if y'all would like to add your own algorithms and derivations - please get a copy of the code from https://github.com/matthew-brett/transforms3d and get on down, algorithmically. Feel free to use the github issue tracker and pull request system to ask for advice and support.

Documentation

Documentation for latest released version at http://matthew-brett.github.io/transforms3d

Code

Released under the BSD two-clause license - see the file `LICENSE` in the source distribution.

Much of the code comes from `transformations.py <http://www.lfd.uci.edu/~gohlke/code/transformations.py.html>`_ by Christoph Gohlke, also released under the BSD license.

`travis-ci <https://travis-ci.org/matthew-brett/transforms3d>`_ kindly tests the code automatically under Python 2.6, 2.7, 3.2, 3.3 and 3.4.

We depend on numpy >= 1.5. You could probably make it work on an earlier numpy if you really needed that.

The latest released version is at https://pypi.python.org/pypi/transforms3d

Support

Please put up issues on the `transforms3d issue tracker <https://github.com/matthew-brett/transforms3d/issues>`_.

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