{"id":32898042,"url":"https://github.com/littie28/hazy-frames","last_synced_at":"2026-04-18T11:03:50.170Z","repository":{"id":323365334,"uuid":"1092195642","full_name":"Littie28/hazy-frames","owner":"Littie28","description":"Hierarchical coordinate frames - crystal clear transforms","archived":false,"fork":false,"pushed_at":"2025-11-09T17:56:46.000Z","size":145,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-11-09T19:20:20.489Z","etag":null,"topics":["3d","coordinate-systems","geometry","numpy","python","reference-frames","scipy","transformations"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Littie28.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-11-08T07:01:59.000Z","updated_at":"2025-11-09T17:56:50.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/Littie28/hazy-frames","commit_stats":null,"previous_names":["littie28/hazy-frames"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/Littie28/hazy-frames","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Littie28%2Fhazy-frames","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Littie28%2Fhazy-frames/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Littie28%2Fhazy-frames/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Littie28%2Fhazy-frames/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Littie28","download_url":"https://codeload.github.com/Littie28/hazy-frames/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Littie28%2Fhazy-frames/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":283674810,"owners_count":26875274,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-11-10T02:00:06.292Z","response_time":53,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d","coordinate-systems","geometry","numpy","python","reference-frames","scipy","transformations"],"created_at":"2025-11-10T12:00:57.319Z","updated_at":"2026-04-18T11:03:50.157Z","avatar_url":"https://github.com/Littie28.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# hazy-frames\n\n[![Python Version](https://img.shields.io/badge/python-3.12+-blue.svg)](https://www.python.org/downloads/)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n[![Code style: ruff](https://img.shields.io/badge/code%20style-ruff-000000.svg)](https://github.com/astral-sh/ruff)\n[![CI](https://github.com/Littie28/hazy-frames/actions/workflows/ci.yml/badge.svg)](https://github.com/Littie28/hazy-frames/actions/workflows/ci.yml)\n[![codecov](https://codecov.io/gh/Littie28/hazy-frames/branch/main/graph/badge.svg)](https://codecov.io/gh/Littie28/hazy-frames)\n[![Documentation Status](https://readthedocs.org/projects/hazy-frames/badge/?version=latest)](https://hazy-frames.readthedocs.io/en/latest/?badge=latest)\n\n**Hierarchical coordinate frames - crystal clear transforms**\n\nA Python library for managing hierarchical reference frames and frame-aware geometric primitives with efficient transformation caching, inspired by [optiland](https://github.com/HarrisonKramer/optiland).\n\n`hazy-frames` fills the gap between heavyweight robotics frameworks like `ROS` and specialized libraries like `pytransform3d` or `astropy`. It provides a lightweight, Pythonic API for tracking geometric objects across multiple coordinate systems - perfect for raytracing, computer graphics, robotics simulations, CFD mesh generation (OpenFOAM `blockMesh`), or any application requiring coordinate transformations. Born from the need of managing objects across different frames in a non-sequential raytracing project, it offers a clean, intuitive interface that just works.\n\n**Philosophy:** Do one thing well with minimal dependencies (only numpy and scipy). No visualization, no physics simulation, no file I/O - just clean, efficient coordinate transformations. The library enforces geometric semantics (e.g., Point + Point is forbidden, but Point - Point = Vector is allowed) as an opt-out contract - preventing common bugs while staying Pythonic. Designed as a lightweight building block that integrates seamlessly into your existing toolchain.\n\n## Features\n\n- **Hierarchical Frame System**: Build complex frame hierarchies with parent-child relationships\n- **Frame-Aware Primitives**: `Point` and `Vector` classes that carry frame information\n- **NumPy Integration**: Native array support with batch operations, factory methods, and stack functions\n- **Automatic Transformations**: Transform primitives between any frames in the hierarchy\n- **Efficient Caching**: Transformation matrices are cached for performance\n- **Proper Geometric Semantics**: Type-safe arithmetic operations (e.g., Point - Point = Vector)\n- **Flexible Transformations**: Support for rotation (Euler angles, quaternions, matrices), translation, and scaling\n\n## Installation\n\nInstall directly from PyPI:\n\n```bash\npip install hazy-frames\n```\n\nOr download the wheel from [releases](https://github.com/Littie28/hazy-frames/releases/latest):\n\n```bash\npip install hazy_frames-0.2.0-py3-none-any.whl\n```\n\nFor development:\n\n```bash\n# Clone the repository\ngit clone https://github.com/Littie28/hazy-frames.git\ncd hazy-frames\n\n# Install with development dependencies\nuv sync --group dev\n```\n\n## Quick Start\n\n```python\nfrom hazy import Frame, Point, Vector\n\n# Create a frame hierarchy\nworld = Frame.make_root(\"world\")\nrobot = world.make_child(name=\"robot\")\nrobot.translate(x=5, y=0, z=0).rotate_euler(z=90, degrees=True)\n\ncamera = robot.make_child(name=\"camera\")\ncamera.translate(x=0, y=0, z=1)\n\n# Create frame-aware primitives\npoint_in_camera = camera.point(1, 0, 0)\n\n# Transform between frames\npoint_in_world = point_in_camera.to_frame(world)\npoint_in_robot = point_in_camera.to_frame(robot)\n\nprint(f\"Camera: {point_in_camera}\")\nprint(f\"World: {point_in_world}\")\nprint(f\"Robot: {point_in_robot}\")\n```\n\n## Documentation\n\nFull documentation, tutorials, and API reference are available at [ReadTheDocs](https://hazy-frames.readthedocs.io/).\n\n## Contributing\n\nContributions are welcome! Please feel free to submit a Pull Request.\n\n## License\n\nThis project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flittie28%2Fhazy-frames","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Flittie28%2Fhazy-frames","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flittie28%2Fhazy-frames/lists"}