A small Lie library for Python.

This library represents rotations and poses in 3D. It also implements group and Lie operations, as well as their Jacobians.

You can install this library to your Python environment directly from this repository using pip:

pip install https://github.com/tussedrotten/pylie/archive/master.zip

The library depends upon numpy, which is installed together with pylie when using the command above.

The examples and tests have additional dependencies, see requirements.txt. You can install these dependencies with the following command:

pip install -r requirements.txt

• left_right_perturbations.py
• mean_pose.py
• pose_interpolation.py
• poses_and_cameras.py
• vis_perturbations.py