pyrotation

Interconversion of Euler angles, axis angles, quaternions, and rotation matrix. Supports numpy.ndarray and torch.Tensor, and uses plum-dispatch to decorate functions of the same name. In addition, it supports arbitrary shapes.

Installation

pip install pyrotation

conversion

we use plum-dispatch to decorate functions of the same name, so you can use pyrotation.conversion to convert between different representations. We support numpy.ndarray and torch.Tensor, and the input can be of arbitrary shape.

import torch
from pyrotation.conversion import quaternion_from_matrix, euler_angle_from_matrix

# convert a 10x3x3 rotation matrix to a quaternion
R = torch.rand(10, 3, 3)
quat = quaternion_from_matrix(R)
euler_angle = euler_angle_from_matrix(R)

print(quat.shape) # torch.Size([10, 4])
print(euler_angle.shape) # torch.Size([10, 3])

We also support conversions between so3 and SO3, se3 and SE3. You can use SO3_from_so3 and SE3_from_se3 to convert so3 and se3 to SO3 and SE3, respectively. Similarly, you can use so3_from_SO3 and se3_from_SE3 to convert SO3 and SE3 to so3 and se3, respectively.