ktk.geometry

Provide 3D geometry and linear algebra functions related to biomechanics.

Note

As a convention, the first dimension of every array is always N and corresponds to time.

Functions

create_point_series	Create an Nx4 point series ([[x, y, z, 1.0], ...]).
create_transform_series	Create an Nx4x4 transform series from multiple input forms.
create_vector_series	Create an Nx4 vector series ([[x, y, z, 0.0], ...]).
get_angles	Extract Euler angles from a transform series.
get_global_coordinates	Express local coordinates in the global reference frame.
get_local_coordinates	Express global coordinates in local reference frames.
get_quaternions	Extract quaternions from a transform series.
is_point_series	Check that the input is an Nx4 point series ([[x, y, z, 1.0], ...]).
is_transform_series	Check that the input is an Nx4x4 series of homogeneous transforms.
is_vector_series	Check that the input is an Nx4 vector series ([[x, y, z, 0.0], ...]).
isnan	Check which samples contain at least one NaN.
matmul	Matrix multiplication between series of matrices.
mirror	Mirror a series of coordinates.
register_points	Find the homogeneous transforms between two series of point clouds.
rotate	Rotate a series of coordinates along given axes.
scale	Scale a series of coordinates.
translate	Translate a series of coordinates.