Package org.robwork.sdurw_math

Class PerspectiveTransform2Df

java.lang.Object

org.robwork.sdurw_math.PerspectiveTransform2Df

public class PerspectiveTransform2Df
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
PerspectiveTransform2Df()	constructor
PerspectiveTransform2Df(float r11, float r12, float r13, float r21, float r22, float r23, float r31, float r32, float r33)	constructor
PerspectiveTransform2Df(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Vector3Df	calc3dVec(PerspectiveTransform2Df hT, Vector2Df v)	transform a 2d point into a 3d point with this perspective transform
static PerspectiveTransform2Df	calcTransform(SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_float_t_t pts1, SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_float_t_t pts2)	calculates a PerspectiveTransform2D that maps points from point set pts1 to point set pts2
void	delete()
EigenMatrix3f	e()	Returns reference to the 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation
float	get(long row, long column)
static long	getCPtr(PerspectiveTransform2Df obj)
PerspectiveTransform2Df	inverse()	Returns the inverse of the PerspectiveTransform
Vector2Df	multiply(Vector2Df v)	transform a point using this perspective transform
void	set(long row, long column, float d)

Methods inherited from class java.lang.Object

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

Constructor Detail

PerspectiveTransform2Df

public PerspectiveTransform2Df(long cPtr,
                               boolean cMemoryOwn)

PerspectiveTransform2Df

public PerspectiveTransform2Df()

constructor

PerspectiveTransform2Df

public PerspectiveTransform2Df(float r11,
                               float r12,
                               float r13,
                               float r21,
                               float r22,
                               float r23,
                               float r31,
                               float r32,
                               float r33)

constructor

Method Detail

getCPtr

public static long getCPtr(PerspectiveTransform2Df obj)

delete

public void delete()

calcTransform

public static PerspectiveTransform2Df calcTransform(SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_float_t_t pts1,
                                                    SWIGTYPE_p_std__vectorT_rw__math__Vector2DT_float_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 PerspectiveTransform2Df inverse()

Returns the inverse of the PerspectiveTransform

get

public float get(long row,
                 long column)

set

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

multiply

public Vector2Df multiply(Vector2Df v)

transform a point using this perspective transform

calc3dVec

public Vector3Df calc3dVec(PerspectiveTransform2Df hT,
                           Vector2Df v)

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

Parameters:

hT -

v -

Returns:

e

public EigenMatrix3f e()

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

Returns:

\mathbf{M}\in SO(3)