`scipy.spatial.transform._rigid_transform:RigidTransform.as_matrix`

source: /scipy/spatial/transform/_rigid_transform.py:1106

Signature

def as_matrix(self) → Array

Summary

Return a copy of the matrix representation of the transform.

Extended Summary

4x4 rigid transformation matrices are of the form

[       tx]
[   R   ty]
[       tz]
[ 0 0 0  1]

where R is a 3x3 orthonormal rotation matrix and t = [tx, ty, tz] is a 3x1 translation vector.

Returns

matrix : numpy.ndarray, shape (..., 4, 4): Transformation matrices with the same leading dimensions as the transform.

Examples

from scipy.spatial.transform import RigidTransform as Tf
from scipy.spatial.transform import Rotation as R
import numpy as np

✓

A transformation matrix is a 4x4 matrix formed from a 3x3 rotation matrix and a 3x1 translation vector:

t = np.array([2, 3, 4])
r = R.from_matrix([[0, 0, 1],
                   [1, 0, 0],
                   [0, 1, 0]])
tf = Tf.from_components(t, r)

✓

tf.as_matrix()

✗

array([[0., 0., 1., 2.],
       [1., 0., 0., 3.],
       [0., 1., 0., 4.],
       [0., 0., 0., 1.]])

Tf.identity(2).as_matrix()

✗

array([[[1., 0., 0., 0.],
        [0., 1., 0., 0.],
        [0., 0., 1., 0.],
        [0., 0., 0., 1.]],

       [[1., 0., 0., 0.],
        [0., 1., 0., 0.],
        [0., 0., 1., 0.],
        [0., 0., 0., 1.]]])

Aliases

scipy.spatial.transform.RigidTransform.as_matrix