Intro

Mathlib is a collection of season-agnostic math and misc utilities which may be useful in Vision solutions. We recommend that you start exploring from the top-down. Comments and doctests "say it all"!

• CamToField2020 is an example transformation chain representing the coordinate system transformations for a camera attached to a rotating turret attached to the robot.
• CamToField is the base class for any robot that receives periodic updates of the robot's pose.
• Affine3 is our core representation of geometric transformations and coordinate systems.
• Quaternion is a compact/robust representation for rotations
• transformations.py is a third-party package for manipulating & creating matrices.

See Also

For a deeper understanding of 4x4 matrices

• http://graphics.cs.cmu.edu/nsp/course/15-462/Spring04/slides/04-transform.pdf
• Matrices and transformations. Ronald Goldman. In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990.
• More matrices and transformations: shear and pseudo-perspective. Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.
• Decomposing a matrix into simple transformations. Spencer Thomas. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.