{"id":26990004,"url":"https://github.com/tsmorz/lie_groups","last_synced_at":"2025-10-16T05:40:18.662Z","repository":{"id":285294951,"uuid":"957566688","full_name":"Tsmorz/lie_groups","owner":"Tsmorz","description":"Functions for the Lie Algebra goups SO(2), SE(2), SO(3), are SE(3) that are commonly used in robotics and computer vision.","archived":false,"fork":false,"pushed_at":"2025-04-02T01:10:59.000Z","size":123,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-09-21T06:21:14.749Z","etag":null,"topics":["computer-vision","estimation","lie-algebra","lie-groups","robotics"],"latest_commit_sha":null,"homepage":"https://www.geometrictools.com/Documentation/InterpolationRigidMotions.pdf","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Tsmorz.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}},"created_at":"2025-03-30T17:22:26.000Z","updated_at":"2025-04-02T01:11:02.000Z","dependencies_parsed_at":"2025-07-23T01:32:27.315Z","dependency_job_id":"cdad613b-e984-4800-96a0-7c6ea4dd74e0","html_url":"https://github.com/Tsmorz/lie_groups","commit_stats":null,"previous_names":["tsmorz/se3_group","tsmorz/lie_groups"],"tags_count":5,"template":false,"template_full_name":null,"purl":"pkg:github/Tsmorz/lie_groups","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Tsmorz%2Flie_groups","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Tsmorz%2Flie_groups/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Tsmorz%2Flie_groups/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Tsmorz%2Flie_groups/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Tsmorz","download_url":"https://codeload.github.com/Tsmorz/lie_groups/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Tsmorz%2Flie_groups/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":278322183,"owners_count":25967872,"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":"2025-10-04T02:00:05.491Z","response_time":63,"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":["computer-vision","estimation","lie-algebra","lie-groups","robotics"],"created_at":"2025-04-03T21:30:33.533Z","updated_at":"2025-10-04T13:45:08.199Z","avatar_url":"https://github.com/Tsmorz.png","language":"Python","readme":"# LieGroupsPy\nFunctions for the Lie Algebra group SE(2) and SE(3)\n\n$$ SE(2) =\n\\begin{bmatrix}\n    R_{11} \u0026 R_{12} \u0026 t_1 \\\\\n    R_{21} \u0026 R_{22} \u0026 t_2 \\\\\n    0 \u0026 0 \u0026 1\n\\end{bmatrix} $$\n\nwhere:\n- \\( $\\mathbf{R} \\in SO(2) $\\) is the **rotation matrix**.\n- \\( $\\mathbf{t} \\in \\mathbb{R}^2 $\\) is the **translation vector**.\n\n  \n$$ SE(3) =\n\\begin{bmatrix}\n    R_{11} \u0026 R_{12} \u0026 R_{13} \u0026 t_1 \\\\\n    R_{21} \u0026 R_{22} \u0026 R_{23} \u0026 t_2 \\\\\n    R_{31} \u0026 R_{32} \u0026 R_{33} \u0026 t_3 \\\\\n    0 \u0026 0 \u0026 0 \u0026 1\n\\end{bmatrix} $$\n\nwhere:\n- \\( $\\mathbf{R} \\in SO(3) $\\) is the **rotation matrix**.\n- \\( $\\mathbf{t} \\in \\mathbb{R}^3 $\\) is the **translation vector**.\n\nThis representation is commonly used in **robotics and computer vision** for rigid body transformations.\n\n\u003cp align=\"center\" width=\"80%\"\u003e\n    \u003cimg width=\"500\" alt=\"Screenshot 2025-03-31 at 9 37 41 AM\" src=\"https://github.com/user-attachments/assets/15d5f56c-32f8-4e18-bb05-bf84c1b48fdc\" /\u003e\n\u003c/p\u003e\n\n\n## Install\nTo install the library run: `pip install lie_groups_py`\n\n## Development\n0. Install [Poetry](https://python-poetry.org/docs/#installing-with-the-official-installer)\n1. `make init` to create the virtual environment and install dependencies\n2. `make format` to format the code and check for errors\n3. `make test` to run the test suite\n4. `make clean` to delete the temporary files and directories\n5. `poetry publish --build` to build and publish to https://pypi.org/project/lie_groups_py/\n\n\n## Usage\n```\n\"\"\"Basic docstring for my module.\"\"\"\n\nimport matplotlib.pyplot as plt\nimport numpy as np\nfrom loguru import logger\n\nfrom lie_groups_py.se3 import SE3, interpolate_se3\n\n\ndef main() -\u003e None:\n    \"\"\"Run a simple demonstration.\"\"\"\n    pose_0 = SE3(\n        xyz=np.array([0.0, 0.0, 0.0]),\n        rot=np.eye(3),\n    )\n    logger.info(pose_0)\n\n    pose_1 = SE3(\n        xyz=np.array([[2.0], [2.0], [8.0]]),\n        yaw_pitch_roll=(np.pi / 2, np.pi / 4, np.pi / 8),\n    )\n\n    pose_interp = interpolate_se3(pose_0, pose_1, t=0.5)\n\n    # plot the results\n    fig = plt.figure()\n    ax = fig.add_subplot(111, projection=\"3d\")\n    pose_0.plot(ax)\n    pose_1.plot(ax)\n    pose_interp.plot(ax)\n    plt.axis(\"equal\")\n    ax.set_xlabel(\"x-axis\")\n    ax.set_ylabel(\"y-axis\")\n    ax.set_zlabel(\"z-axis\")\n    plt.tight_layout()\n    plt.show()\n\n\nif __name__ == \"__main__\":\n    main()\n```\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftsmorz%2Flie_groups","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftsmorz%2Flie_groups","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftsmorz%2Flie_groups/lists"}