1.5

Bugfix (Breaking Change)

• Fixes extrinsic zxz and zyz Euler angles (order of rotations was previously inverted)

Features

• Adds functions vector_projection and check_skew_symmetric_matrix
• Adds screw parameters, screw axis, exponential coordinates of transformations, screw matrix, and matrix logarithm as new representations for transformations
• Adds function adjoint_from_transformation
• Adds method TransformManager.remove_transform
• Adds functions norm_matrix and matrix_from_two_vectors

Documentation

• Rearranges gallery in readme
• Links to GitHub page in sphinx documentation
• Improves documentation of SE(3)
• Adds examples to documentation with sphinx-gallery and a custom image scraper for Open3D
• Documents rotation and transformation conventions of other software packages