ktk.geometry.get_local_coordinates

get_local_coordinates(global_coordinates, reference_frames)

Express global coordinates in local reference frames.

Parameters:

• global_coordinates (ArrayLike) –

  The global 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) – An Nx4x4 transform series that represents the local coordinate system.

Returns:

Series of local coordinates in the same shape as global_coordinates.

Return type:

np.ndarray

See also

ktk.geometry.get_global_coordinates