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se3
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Extension descriptor (YAML)

Provides SE(3) rigid transformations (combinations of rotations and translations in 3D) as DuckDB scalar functions.

Maintainer(s): jokasimr

Compatibility Matrix

This table covers all DuckDB releases that have not reached end-of-life, including LTS releases, and shows the 2 most recent patch releases of each. Older patch releases are not listed, but the extension may be available for them as well.

Platform 1.4.4 1.4.5 1.5.5 1.5.6 2.0.0
Linux AMD64
Linux ARM64
macOS AMD64
macOS ARM64
Windows AMD64
Windows ARM64
WebAssembly

Installing and Loading 

INSTALL se3 FROM community;
LOAD se3;

Example 

SELECT se3_apply(
    quat_from_axis_angle(
        struct_pack(x:=0.0, y:=0.0, z:=1.0), -- rotation axis (Z)
        pi()/2.0                             -- 90 degrees
    ),
    struct_pack(x:=1.0, y:=0.0, z:=0.0)      -- point
);                                           -- returns (0., 1., 0.)

About se3

This extension provides SE(3) rigid transformations, implemented as DuckDB scalar functions.

Features:

  • Sequences of rotations and translations can be combined to a 7 DOF struct that represents one combined translation then rotation. See se3_compose.
  • Transformations can be efficiently applied to points in 3D without calling trigonometric functions. See se3_apply().

For full documentation see: https://github.com/jokasimr/se3.

Added Functions

function_name function_type description comment examples
qconj scalar Returns the quaternion conjugate of q. NULL [qconj(vvec(1.0, 2.0, 3.0, 4.0))]
qmul scalar Multiplies quaternions qA and qB. NULL [qmul(quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0), quat_from_axis_angle(vvec(0.0, 1.0, 0.0), pi()/2.0))]
qnorm2 scalar Returns the squared norm of quaternion q. NULL [qnorm2(quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0))]
quat_from_axis_angle scalar Constructs a unit quaternion from axis and angle in radians. Returns NULL for a zero-length axis. NULL [quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0)]
se3_apply scalar Applies transformation W to point p. W can be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. NULL [se3_apply(se3_identity(), vvec(1.0, 2.0, 3.0))]
se3_compose scalar Composes two transformations, applying W1 first and then W2. W1 and W2 can each be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. NULL [se3_compose(se3_identity(), se3_identity())]
se3_from_axis_angle scalar Constructs a transform from translation t and an axis-angle rotation. Returns NULL for a zero-length axis. NULL [se3_from_axis_angle(vvec(1.0, 0.0, 0.0), vvec(0.0, 0.0, 1.0), pi()/2.0)]
se3_identity scalar Returns the identity transform. NULL [se3_identity()]
se3_inv scalar Returns the inverse transformation of W. W can be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. NULL [se3_inv(se3_identity())]
se3_make scalar Constructs a transform from translation t and quaternion q. NULL [se3_make(vvec(1.0, 2.0, 3.0), quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0))]
vadd scalar Returns the element-wise sum of a and b. NULL [vadd(vvec(1.0, 2.0, 3.0), vvec(4.0, 5.0, 6.0))]
vangle scalar Returns the angle in radians between a and b. NULL [vangle(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))]
vcos_angle scalar Returns vdot(a, b) / (vnorm(a) * vnorm(b)) without clamping. NULL [vcos_angle(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))]
vcross scalar Returns the 3D cross product of a and b. NULL [vcross(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))]
vdot scalar Returns the dot product of a and b. NULL [vdot(vvec(1.0, 2.0, 3.0), vvec(4.0, 5.0, 6.0))]
vnorm scalar Returns the Euclidean norm of v. NULL [vnorm(vvec(1.0, 2.0, 3.0))]
vnorm2 scalar Returns the squared Euclidean norm of v. NULL [vnorm2(vvec(1.0, 2.0, 3.0))]
vnormalize scalar Returns v divided by its Euclidean norm. NULL [vnormalize(vvec(1.0, 2.0, 3.0))]
vproj scalar Returns the projection of a onto b. NULL [vproj(vvec(2.0, 2.0, 0.0), vvec(1.0, 0.0, 0.0))]
vrej scalar Returns the rejection of a from b. NULL [vrej(vvec(2.0, 2.0, 0.0), vvec(1.0, 0.0, 0.0))]
vscale scalar Scales vector v by scalar s. NULL [vscale(vvec(1.0, 2.0, 3.0), 2.0)]
vsub scalar Returns the element-wise difference a - b. NULL [vsub(vvec(4.0, 5.0, 6.0), vvec(1.0, 2.0, 3.0))]
vvec scalar Creates a vec3 from x, y, and z components. NULL [vvec(1.0, 2.0, 3.0)]
vvec scalar Creates a vec4 from w, x, y, and z components. NULL [vvec(1.0, 2.0, 3.0, 4.0)]

Overloaded Functions

This extension does not add any function overloads.

Added Types

This extension does not add any types.

Added Settings

This extension does not add any settings.