blenderproc.python.utility.MathUtility module¶

class blenderproc.python.utility.MathUtility.MathUtility[source]¶

static _build_coordinate_frame_changing_transformation_matrix(destination_frame)[source]¶

Builds a transformation matrix that switches the coordinate frame.

Parameters:	destination_frame (`list`) – An array containing three elements, describing each axis of the destination coordinate frame based on the axes of the source frame. (Allowed values: “X”, “Y”, “Z”, “-X”, “-Y”, “-Z”)
Return type:	`ndarray`
Returns:	The transformation matrix

blenderproc.python.utility.MathUtility.build_transformation_mat(translation, rotation)[source]¶

Build a transformation matrix from translation and rotation parts.

Parameters:	translation (`Union`[`ndarray`, `list`, `Vector`]) – A (3,) vector representing the translation part. rotation (`Union`[`ndarray`, `List`[`list`], `Matrix`]) – A 3x3 rotation matrix or Euler angles of shape (3,).
Return type:	`ndarray`
Returns:	The 4x4 transformation matrix.

blenderproc.python.utility.MathUtility.change_coordinate_frame_of_point(point, new_frame)[source]¶

Transforms the given point into another coordinate frame.

Example: [1, 2, 3] and [“X”, “-Z”, “Y”] => [1, -3, 2]

Parameters:	point (`Union`[`ndarray`, `list`, `Vector`]) – The point to convert in form of a np.ndarray, list or mathutils.Vector. new_frame (`List`[`str`]) – An array containing three elements, describing each axis of the new coordinate frame based on the axes of the current frame. (Allowed values: “X”, “Y”, “Z”, “-X”, “-Y”, “-Z”)
Return type:	`ndarray`
Returns:	The converted point also in form of a np.ndarray

blenderproc.python.utility.MathUtility.change_source_coordinate_frame_of_transformation_matrix(matrix, new_frame)[source]¶

Changes the coordinate frame the given transformation matrix is mapping from.

Given a matrix $T_A^B$ that maps from A to B, this function can be used to change the axes of A into A’ and therefore end up with $T_A’^B$.

Parameters:	matrix (`Union`[`ndarray`, `Matrix`]) – The matrix to convert in form of a np.ndarray or mathutils.Matrix new_frame (`list`) – An array containing three elements, describing each axis of the new coordinate frame based on the axes of the current frame. (Allowed values: “X”, “Y”, “Z”, “-X”, “-Y”, “-Z”)
Return type:	`ndarray`
Returns:	The converted matrix is in form of a np.ndarray

blenderproc.python.utility.MathUtility.change_target_coordinate_frame_of_transformation_matrix(matrix, new_frame)[source]¶

Changes the coordinate frame the given transformation matrix is mapping to.

Given a matrix $T_A^B$ that maps from A to B, this function can be used to change the axes of B into B’ and therefore end up with $T_A^B’$.

Parameters:	matrix (`Union`[`ndarray`, `Matrix`]) – The matrix to convert in form of a np.ndarray or mathutils.Matrix new_frame (`list`) – An array containing three elements, describing each axis of the new coordinate frame based on the axes of the current frame. (Allowed values: “X”, “Y”, “Z”, “-X”, “-Y”, “-Z”)
Return type:	`ndarray`
Returns:	The converted matrix is in form of a np.ndarray