rotate_points_3d

ssapy.utils.rotate_points_3d(points, axis=array([0, 0, 1]), theta=-1.5707963267948966)[source][source]

Rotate a set of 3D points about a 3D axis by an angle theta in radians.

Parameters:

points (np.ndarray) – The set of 3D points to rotate, as an Nx3 array.
axis (np.ndarray) – The 3D axis to rotate about, as a length-3 array. Default is the z-axis.
theta (float) – The angle to rotate by, in radians. Default is pi/2.

Returns:

The rotated set of 3D points, as an Nx3 array.

Return type:

np.ndarray