code: def from_scanner(self, x, y, z):
          
          if self.transform is None:
              raise ValueError("No transform set for MRSData object {}".format(self))
  
          transformed_point = numpy.linalg.inv(self.transform) * numpy.matrix([x, y, z, 1]).T
  
          return numpy.squeeze(numpy.asarray(transformed_point))[0:3]
docs: Converts a 3d position in the scanner reference frame to the MRSData space
  
          :param x:
          :param y:
          :param z:
          :return: