scipy.spatial.transform.RigidTransform.

concatenate#

static RigidTransform.concatenate(transforms)[source]#

Concatenate a sequence of RigidTransform objects into a single object.

Parameters:
transformssequence of RigidTransform

If a single RigidTransform instance is passed in, a copy of it is returned.

Returns:
transformRigidTransform instance

The concatenated transform.

Notes

Array API Standard Support

concatenate has experimental support for Python Array API Standard compatible backends in addition to NumPy. Please consider testing these features by setting an environment variable SCIPY_ARRAY_API=1 and providing CuPy, PyTorch, JAX, or Dask arrays as array arguments. The following combinations of backend and device (or other capability) are supported.

Library

CPU

GPU

NumPy

✅

n/a

CuPy

n/a

✅

PyTorch

✅

✅

JAX

✅

✅

Dask

⛔

n/a

See Support for the array API standard for more information.

Examples

>>> from scipy.spatial.transform import RigidTransform as Tf
>>> tf1 = Tf.from_translation([1, 0, 0])
>>> tf2 = Tf.from_translation([[2, 0, 0], [3, 0, 0]])
>>> Tf.concatenate([tf1, tf2]).translation
array([[1., 0., 0.],
       [2., 0., 0.],
       [3., 0., 0.]])