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) – Interpolation ratio such that 0. -> p1, 1. -> p2.

property single: bool

Whether this is a single transformation or a batch.

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.

Return type:

Self