[Numpy-discussion] A module for homogeneous transformation matrices, Euler angles and quaternions

cgohlke@uc... cgohlke@uc...
Mon Mar 30 22:32:37 CDT 2009

```Hello,

I have reimplemented many functions of the transformations.py module
in a C extension module. Speed improvements are 5-50 times.

<http://www.lfd.uci.edu/~gohlke/code/transformations.c.html>
<http://www.lfd.uci.edu/~gohlke/code/transformations.py.html>

-- Christoph

On Mar 4, 8:28 pm, Jonathan Taylor <jonathan.tay...@utoronto.ca>
wrote:
> Looks cool but a lot of this should be done in an extension module to
> make it fast.  Perhaps starting this process off as a separate entity
> until stability is acheived.  I would be tempted to do some of this
> using cython.  I just wrote found that generating a rotation matrix
> from euler angles is about 10x faster when done properly with cython.
>
> J.
>
> On Wed, Mar 4, 2009 at 5:10 PM, Gareth Elston
>
> > I found a nice module for these transforms at
> >http://www.lfd.uci.edu/~gohlke/code/transformations.py.html. I've
> > been using an older version for some time and thought it might make a
> > good addition to numpy/scipy. I made some simple mods to the older
> > version to add a couple of functions I needed and to allow it to be
> > used with Python 2.4.
>
> > The module is pure Python (2.5, with numpy 1.2 imported), includes
> > doctests, and is BSD licensed. Here's the first part of the module
> > docstring:
>
> > """Homogeneous Transformation Matrices and Quaternions.
>
> > A library for calculating 4x4 matrices for translating, rotating, mirroring,
> > scaling, shearing, projecting, orthogonalizing, and superimposing arrays of
> > homogenous coordinates as well as for converting between rotation matrices,
> > Euler angles, and quaternions.
> > """
>
> > I'd like to see this added to numpy/scipy so I know I've got some
> > reading to do (scipy.org/Developer_Zone and the huge scipy-dev
> > discussions on Scipy development infrastructure / workflow) to make
> > sure it follows the guidelines, but where would people like to see
> > this? In numpy? scipy? scikits? elsewhere?
>
> > I seem to remember that there was a first draft of a guide for
> > developers being written. Are there any links available?
>
> > Thanks,
> > Gareth.
> > _______________________________________________
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> > Numpy-discuss...@scipy.org
> >http://projects.scipy.org/mailman/listinfo/numpy-discussion
>
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```