PyGeometry¶

PyGeometry is a Python package that implements common operations on the differentiable manifolds usually encountered in computer vision and robotics. Implemented manifolds: $R^n$ , $S^n$ , $SO(n)$ , $SE(n)$ , $T(n)$ . Implemented operations: conversion between representations, geodesic distances, interpolation, random sampling.

The design goal is to have a set of well-tested primitives: I’ve been burned too many times from having used buggy functions. PyGeometry is paranoid on program correctness. It uses PyContracts to validate input and return values. stochastic_testing (another experimental library) is used to check the correctness of the random sampling operations.

Download¶

Use:

pip install PyGeometry

You can download this project in either zip or tar formats. You can also clone the project with Git by running:

$ git clone git://github.com/AndreaCensi/geometry

Documentation¶

Manifolds known by PyGeometry with embedding relations:

News¶

2011-01-27: Started documentation.

2011 to 2018: Used in production in many projects.

2018-03-27: Refreshed documentation.

PyGeometry¶

Download¶

Documentation¶

News¶

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