https://github.com/littie28/hazy-frames
Hierarchical coordinate frames - crystal clear transforms
https://github.com/littie28/hazy-frames
3d coordinate-systems geometry numpy python reference-frames scipy transformations
Last synced: 9 days ago
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Hierarchical coordinate frames - crystal clear transforms
- Host: GitHub
- URL: https://github.com/littie28/hazy-frames
- Owner: Littie28
- License: mit
- Created: 2025-11-08T07:01:59.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-11-09T17:56:46.000Z (6 months ago)
- Last Synced: 2025-11-09T19:20:20.489Z (6 months ago)
- Topics: 3d, coordinate-systems, geometry, numpy, python, reference-frames, scipy, transformations
- Language: Python
- Homepage:
- Size: 142 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# hazy-frames
[](https://www.python.org/downloads/)
[](https://opensource.org/licenses/MIT)
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[](https://github.com/Littie28/hazy-frames/actions/workflows/ci.yml)
[](https://codecov.io/gh/Littie28/hazy-frames)
[](https://hazy-frames.readthedocs.io/en/latest/?badge=latest)
**Hierarchical coordinate frames - crystal clear transforms**
A Python library for managing hierarchical reference frames and frame-aware geometric primitives with efficient transformation caching, inspired by [optiland](https://github.com/HarrisonKramer/optiland).
`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.
**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.
## Features
- **Hierarchical Frame System**: Build complex frame hierarchies with parent-child relationships
- **Frame-Aware Primitives**: `Point` and `Vector` classes that carry frame information
- **NumPy Integration**: Native array support with batch operations, factory methods, and stack functions
- **Automatic Transformations**: Transform primitives between any frames in the hierarchy
- **Efficient Caching**: Transformation matrices are cached for performance
- **Proper Geometric Semantics**: Type-safe arithmetic operations (e.g., Point - Point = Vector)
- **Flexible Transformations**: Support for rotation (Euler angles, quaternions, matrices), translation, and scaling
## Installation
Install directly from PyPI:
```bash
pip install hazy-frames
```
Or download the wheel from [releases](https://github.com/Littie28/hazy-frames/releases/latest):
```bash
pip install hazy_frames-0.2.0-py3-none-any.whl
```
For development:
```bash
# Clone the repository
git clone https://github.com/Littie28/hazy-frames.git
cd hazy-frames
# Install with development dependencies
uv sync --group dev
```
## Quick Start
```python
from hazy import Frame, Point, Vector
# Create a frame hierarchy
world = Frame.make_root("world")
robot = world.make_child(name="robot")
robot.translate(x=5, y=0, z=0).rotate_euler(z=90, degrees=True)
camera = robot.make_child(name="camera")
camera.translate(x=0, y=0, z=1)
# Create frame-aware primitives
point_in_camera = camera.point(1, 0, 0)
# Transform between frames
point_in_world = point_in_camera.to_frame(world)
point_in_robot = point_in_camera.to_frame(robot)
print(f"Camera: {point_in_camera}")
print(f"World: {point_in_world}")
print(f"Robot: {point_in_robot}")
```
## Documentation
Full documentation, tutorials, and API reference are available at [ReadTheDocs](https://hazy-frames.readthedocs.io/).
## Contributing
Contributions are welcome! Please feel free to submit a Pull Request.
## License
This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.