Package org.robwork.sdurw_math
Class PerspectiveTransform2D
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- org.robwork.sdurw_math.PerspectiveTransform2D
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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.
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Constructor Summary
Constructors Constructor Description PerspectiveTransform2D()
constructorPerspectiveTransform2D(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)
constructorPerspectiveTransform2D(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Vector3D
calc3dVec(PerspectiveTransform2D hT, Vector2D v)
transform a 2d point into a 3d point with this
perspective transformstatic 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 pts2void
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 PerspectiveTransformVector2D
multiply(Vector2D v)
transform a point using this perspective transformvoid
set(long row, long column, double d)
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Constructor Detail
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PerspectiveTransform2D
public PerspectiveTransform2D(long cPtr, boolean cMemoryOwn)
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PerspectiveTransform2D
public PerspectiveTransform2D()
constructor
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PerspectiveTransform2D
public PerspectiveTransform2D(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)
constructor
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Method Detail
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getCPtr
public static long getCPtr(PerspectiveTransform2D obj)
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delete
public void delete()
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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 onepts2
- [in] point set two
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inverse
public PerspectiveTransform2D inverse()
Returns the inverse of the PerspectiveTransform
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get
public double get(long row, long column)
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set
public void set(long row, long column, double d)
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calc3dVec
public Vector3D calc3dVec(PerspectiveTransform2D hT, Vector2D v)
transform a 2d point into a 3d point with this
perspective transform- Parameters:
hT
-v
-- Returns:
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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)
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