Home

Frame Transformer

Mark the transforms you know, then get the homogeneous-transform chain you need to write in code.

4 frames / 0 known transforms
Frame graph   Click an edge to set, flip, or clear its transform. Drag frames to arrange them.Dashed = unknown
known H unknown H selected formula path

Result

Select two frames to begin.

Convention: H_{child}^{parent} maps coordinates in the child frame into its parent frame. Reverse traversal uses the inverse transform.

Find a transform

Choose the source and destination frame. Direction matters.

Add a frame

New frames start in the graph with unknown transforms.

Remove a frame

Connected transforms are removed with the frame.

Rename a frame

Connected transforms keep their direction after renaming.