Package org.robwork.sdurw_math

Class PerspectiveTransform2D

java.lang.Object

org.robwork.sdurw_math.PerspectiveTransform2D

public class PerspectiveTransform2D
extends java.lang.Object

The PerspectiveTransform2D is a perspective transform in 2D.

The homographic transform can be used to map one arbitrary 2D
quadrilateral into another.

Constructor Summary

Constructors

Constructor	Description
PerspectiveTransform2D()	constructor
PerspectiveTransform2D(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)	constructor
PerspectiveTransform2D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Vector3D	calc3dVec(PerspectiveTransform2D hT, Vector2D v)	transform a 2d point into a 3d point with this perspective transform
static PerspectiveTransform2D	calcTransform(SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_double_t_t pts1, SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_double_t_t pts2)	calculates a PerspectiveTransform2D that maps points from point set pts1 to point set pts2
void	delete()
EigenMatrix3d	e()	Returns reference to the 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation
double	get(long row, long column)
static long	getCPtr(PerspectiveTransform2D obj)
PerspectiveTransform2D	inverse()	Returns the inverse of the PerspectiveTransform
Vector2D	multiply(Vector2D v)	transform a point using this perspective transform
void	set(long row, long column, double d)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PerspectiveTransform2D

public PerspectiveTransform2D(long cPtr,
                              boolean cMemoryOwn)

PerspectiveTransform2D

public PerspectiveTransform2D()

constructor

PerspectiveTransform2D

public PerspectiveTransform2D(double r11,
                              double r12,
                              double r13,
                              double r21,
                              double r22,
                              double r23,
                              double r31,
                              double r32,
                              double r33)

constructor

Method Detail

getCPtr

public static long getCPtr(PerspectiveTransform2D obj)

delete

public void delete()

calcTransform

public static PerspectiveTransform2D calcTransform(SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_double_t_t pts1,
                                                   SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_double_t_t pts2)

calculates a PerspectiveTransform2D that maps points from point
set pts1 to point set pts2

Parameters:

pts1 - [in] point set one

pts2 - [in] point set two

inverse

public PerspectiveTransform2D inverse()

Returns the inverse of the PerspectiveTransform

get

public double get(long row,
                  long column)

set

public void set(long row,
                long column,
                double d)

multiply

public Vector2D multiply(Vector2D v)

transform a point using this perspective transform

calc3dVec

public Vector3D calc3dVec(PerspectiveTransform2D hT,
                          Vector2D v)

transform a 2d point into a 3d point with this
perspective transform

Parameters:

hT -

v -

Returns:

e

public EigenMatrix3d e()

Returns reference to the 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation

Returns:

\mathbf{M}\in SO(3)