ktk.geometry.get_local_coordinates#

get_local_coordinates(global_coordinates, reference_frames)[source]#

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) – A series of N reference frames (Nx4x4) to express the global coordinates in.

Returns

Series of local coordinates in the same shape than global_coordinates.

Return type

np.ndarray