Transform3D represents a 2D/3D transformation from a specified coordinate system to another. It can be described by a 4x4 matrix that transforms a 3D vector from the source coordinate system to the target coordinate system.


long time

POSIX timestamp in [usec].

string frame

Source coordinate system name.

string parent

Target coordinate system name.

Matrix4d matrix

The transformation matrix, such that left multiplying a vector transforms it from the source coordinate system frame to the target coordinate system parent. For example: target = matrix * [x, y, z, 1]^T. See math.Matrix4d.