trimesh.voxel.transforms
- 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.
- __init__(matrix)
Initialize with a transform
- Parameters
matrix ((4, 4) float) – Homogeneous transformation matrix
- apply_scale(scale)
Mutate the transform in-place and return self.
- apply_transform(matrix)
Mutate the transform in-place and return self.
- apply_translation(translation)
Mutate the transform in-place and return self.
- copy()
- crc()
Get the zlib.adler32 hash of the current transformation matrix.
- Returns
crc – Hash of transformation matrix
- Return type
str
- property inverse_matrix
- inverse_transform_points(points)
Apply the inverse transformation to points (not in-place).
- property is_identity
Flags this transformation being sufficiently close to eye(4).
- property matrix
Get the homogeneous transformation matrix.
- Returns
matrix – Transformation matrix
- Return type
(4, 4) float
- md5()
Get the MD5 hash of the current transformation matrix.
- Returns
md5 – Hash of transformation matrix
- Return type
str
- property pitch
- property scale
Get the scale factor of the current transformation.
- Returns
scale – Scale factor from the matrix
- Return type
(3,) float
- 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
- property translation
Get the translation component of the matrix
- Returns
translation – Cartesian translation
- Return type
(3,) float
- property unit_volume
Volume of a transformed unit cube.