Alitra

WIP Library for ALIgnment and TRAnsformation between fixed coordinate frames. The transform is described by a translation and a homogeneous rotation.

Developed for transforming between the fixed local coordinate-frame and the asset-fixed coordinate-frame.

Installation

Installation from pip

pip install alitra

import alitra
help(alitra)

Installation from source

pip install .

You can test whether installation was successfull with pytest

pip install pytest
pytest .

Local development

pip install -e /path/to/package

This will install package in editable mode. Convenient for local development

Components

Frame transform

Class for transforming coordinates between two coordinates frames. Use custom dataclasses for conveniency, and to ensure that no mistakes are made in the transform.

Align frames

Finds the rotations and translations between two coordinate systems by minimizing the matching error given a set of points described in both coordinate frames. Run python examples/example_manual_alignment.py for a demonstration of its use.