Transformations Refactor
Description
We have a few places where transformations are applied. These are currently serialized into XML and read into vectors on the C++ side. It would be nice at some point to create a class on the Python side for transformations that can be exported to an XML element (<transformation>) and a corresponding struct in C++ that holds the transformation values.
Alternatives
Leave it as-is. This isn't a huge priority, just an opportunity for improvement :)
Compatibility
This may cause compatibility issues, particularly on the Python side where these transformations are defined.
@connoramoreno - we sort of discussed this today...
Noting here that it would probably be good to include a rotate_first option on these transformations to indicate the order of rotation/translation.
Recently scipy added RigidTransform class. It has exactly what you need except the xml serialization.