hazy-frames 0.2.0
Hierarchical coordinate frames - crystal clear transforms
License: MIT
Requires Python: >=3.12
Keywords: 3d, coordinate-systems, frames, geometry, transformations

# hazy-frames

[![Python Version](https://img.shields.io/badge/python-3.12+-blue.svg)](https://www.python.org/downloads/)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
[![Code style: ruff](https://img.shields.io/badge/code%20style-ruff-000000.svg)](https://github.com/astral-sh/ruff)
[![CI](https://github.com/Littie28/hazy-frames/actions/workflows/ci.yml/badge.svg)](https://github.com/Littie28/hazy-frames/actions/workflows/ci.yml)
[![codecov](https://codecov.io/gh/Littie28/hazy-frames/branch/main/graph/badge.svg)](https://codecov.io/gh/Littie28/hazy-frames)
[![Documentation Status](https://readthedocs.org/projects/hazy-frames/badge/?version=latest)](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 GitHub:

```bash
pip install git+https://github.com/Littie28/hazy-frames.git
```

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.