RigidTransform

class tri3d.geometry.RigidTransform(rotation, translation)

A rotation followed by a translation.

classmethod interpolate(p1, p2, w)

Linearly interpolate between two transformations.

Parameters:

• p1 (Self) – Left transformation

• p2 (Self) – Right transformations

• w (float | ndarray) – Interpolation ratio such that 0. -> p1, 1. -> p2.

property single

Whether this is a single transformation or a batch.

__matmul__(other: Self) → Self

__matmul__(other: Transformation) → Transformation

Compose transformations together.

The rightmost operation is applied first.

apply(x)

Apply transformation to given point or array of points.

The broadcasting rules between transformations and their inputs are as follows:

transform	input	output	brodcast
[]	[3]	[3]	single mapping
[]	[n,3]	[n,3]	broadcast transform
[n]	[3]	[n,3]	broadcst input
[n]	[n]	[n,3]	one-to-one mapping

Return type:

ndarray

inv()

Return inverse transformation.