ktk.geometry.get_global_coordinates#

get_global_coordinates(local_coordinates, reference_frames)[source]#

Express local coordinates in the global reference frame.

Parameters
  • local_coordinates (ArrayLike) –

    The local coordinates, as a series of N points, vectors or matrices. For example:

    • A series of N points or vectors : Nx4

    • A series of N set of M points or vectors : Nx4xM

    • A series of N 4x4 transformation matrices : Nx4x4

  • reference_frames (ArrayLike) – A series of N reference frames (Nx4x4) the local coordinates are expressed in.

Returns

Series of global coordinates in the same shape than local_coordinates.

Return type

np.ndarray