trimesh.voxel.transforms¶
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class
trimesh.voxel.transforms.Transform(matrix)¶ Bases:
objectClass for caching metadata associated with 4x4 transformations.
The transformation matrix is used to define relevant properties for the voxels, including pitch and origin.
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apply_scale(scale)¶ Mutate the transform in-place and return self.
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apply_transform(matrix)¶ Mutate the transform in-place and return self.
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apply_translation(translation)¶ Mutate the transform in-place and return self.
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copy()¶
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crc()¶ Get the zlib.adler32 hash of the current transformation matrix.
- Returns
crc – Hash of transformation matrix
- Return type
str
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property
inverse_matrix¶
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inverse_transform_points(points)¶ Apply the inverse transformation to points (not in-place).
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property
is_identity¶ Flags this transformation being sufficiently close to eye(4).
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property
matrix¶ Get the homogeneous transformation matrix.
- Returns
matrix – Transformation matrix
- Return type
(4, 4) float
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md5()¶ Get the MD5 hash of the current transformation matrix.
- Returns
md5 – Hash of transformation matrix
- Return type
str
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property
pitch¶
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property
scale¶ Get the scale factor of the current transformation.
- Returns
scale – Scale factor from the matrix
- Return type
(3,) float
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transform_points(points)¶ Apply the transformation to points (not in-place).
- Parameters
points ((n, 3) float) – Points in cartesian space
- Returns
transformed – Points transformed by matrix
- Return type
(n, 3) float
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property
translation¶ Get the translation component of the matrix
- Returns
translation – Cartesian translation
- Return type
(3,) float
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property
unit_volume¶ Volume of a transformed unit cube.
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