SimpleITK: Rigidly transform image according to 4x4 matrix defined in numpy

Question

I have an image that I have read using sitk.ReadImage and a 4x4 numpy array representing a rigid transform I would like to apply on the image. For the life of me, I cannot seem to figure out how to cast the numpy array to a transform object that is accepted by sitk when trying to perform sitk.Resample. Does anyone know how to do this?