Package georegression.transform.se

Class SePointOps_F64

java.lang.Object

georegression.transform.se.SePointOps_F64

public class SePointOps_F64
extends Object

Constructor Summary

Constructors

Constructor	Description
SePointOps_F64()

Method Summary

Modifier and Type	Method	Description
static Point2D_F64	transform(Se2_F64 se, double x, double y, @Nullable Point2D_F64 result)
static void	transform(Se2_F64 se, Point2D_F64[] points, int length)	Applies a 2D special euclidean transform to an array of points.
static Point2D_F64	transform(Se2_F64 se, Point2D_F64 orig, @Nullable Point2D_F64 result)	Applies a 2D special euclidean transform to the point and stores the results in another variable.
static void	transform(Se2_F64 se, List<Point2D_F64> points)	Applies a 2D special euclidean transform to a list of points.
static Point3D_F64	transform(Se3_F64 se, double x, double y, double z, double w, @Nullable Point3D_F64 dst)
static Point4D_F64	transform(Se3_F64 se, double x, double y, double z, double w, @Nullable Point4D_F64 dst)
static Point3D_F64	transform(Se3_F64 se, double x, double y, double z, @Nullable Point3D_F64 dst)
static void	transform(Se3_F64 se, Point3D_F64[] points, int start, int length)	Applies a 3D special euclidean transform to a list of points.
static Point3D_F64	transform(Se3_F64 se, Point3D_F64 src, @Nullable Point3D_F64 dst)	.
static Point3D_F64	transform(Se3_F64 se, Point4D_F64 src, @Nullable Point3D_F64 dst)	.
static Point4D_F64	transform(Se3_F64 se, Point4D_F64 src, @Nullable Point4D_F64 dst)	.
static void	transform(Se3_F64 se, List<Point3D_F64> points)	Applies a 3D special euclidean transform to a list of points.
static Point2D_F64	transformReverse(Se2_F64 se, Point2D_F64 orig, @Nullable Point2D_F64 result)
static Point4D_F64	transformReverse(Se3_F64 se, double x, double y, double z, double w, @Nullable Point4D_F64 dst)
static Point3D_F64	transformReverse(Se3_F64 se, Point3D_F64 origPt, @Nullable Point3D_F64 tranPt)	.
static Point4D_F64	transformReverse(Se3_F64 se, Point4D_F64 src, @Nullable Point4D_F64 dst)	Applies the transform to points in homogenous coordinates.
static Point3D_F64	transformV(Se3_F64 se, double x, double y, double z, double w, @Nullable Point3D_F64 dst)
static Point3D_F64	transformV(Se3_F64 se, Point4D_F64 src, @Nullable Point3D_F64 dst)	Applies the transform to src, but omits the last implicit last row in dst where dst.w = src.w

Methods inherited from class java.lang.Object

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

Constructor Details

SePointOps_F64

public SePointOps_F64()

Method Details

transform

public static Point2D_F64 transform(Se2_F64 se,
 Point2D_F64 orig,
 @Nullable
 @Nullable Point2D_F64 result)

Applies a 2D special euclidean transform to the point and stores the results in another variable.

Parameters:

se - The transform.

orig - Original point being transformed. Not modified.

result - Where the results are stored. Can be the same as orig. If null a new instance is created. Modified.

Returns:

Transformed point.

transform

public static Point2D_F64 transform(Se2_F64 se,
 double x,
 double y,
 @Nullable
 @Nullable Point2D_F64 result)

transformReverse

public static Point2D_F64 transformReverse(Se2_F64 se,
 Point2D_F64 orig,
 @Nullable
 @Nullable Point2D_F64 result)

transform

public static void transform(Se2_F64 se,
 Point2D_F64[] points,
 int length)

Applies a 2D special euclidean transform to an array of points.

Parameters:

se - The transform.

points - Array of points which are to be transformed. Modified.

length - The number of elements in the array that are to be processed.

transform

public static void transform(Se2_F64 se,
 List<Point2D_F64> points)

Applies a 2D special euclidean transform to a list of points.

Parameters:

se - The transform.

points - List of points which are to be transformed. Modified.

transform

public static void transform(Se3_F64 se,
 Point3D_F64[] points,
 int start,
 int length)

Applies a 3D special euclidean transform to a list of points.

Parameters:

se - The transform.

points - List of points which are to be transformed. Modified.

transform

public static void transform(Se3_F64 se,
 List<Point3D_F64> points)

Applies a 3D special euclidean transform to a list of points.

Parameters:

se - The transform.

points - List of points which are to be transformed. Modified.

transform

public static Point3D_F64 transform(Se3_F64 se,
 Point3D_F64 src,
 @Nullable
 @Nullable Point3D_F64 dst)

. Applies the transform specified by SpecialEuclidean to a point.

p' = R*p + T

Both origPt and tranPt can be the same instance.

Parameters:

se - SpecialEuclidean transform. Not modified.

src - Original coordinate of the point. Not modified.

dst - Storage for transformed coordinate of the point. Point declared if null. Modified.

Returns:

Transformed point.

transform

public static Point3D_F64 transform(Se3_F64 se,
 double x,
 double y,
 double z,
 @Nullable
 @Nullable Point3D_F64 dst)

transform

public static Point3D_F64 transform(Se3_F64 se,
 Point4D_F64 src,
 @Nullable
 @Nullable Point3D_F64 dst)

. Applies rigid body motion to a point. The homogeneous coordinate is converted into a cartesian coordinate. This will not handle points at infinity. A NaN will be produced.

p' = [R t]*p

Both origPt and tranPt can be the same instance.

Parameters:

se - SpecialEuclidean transform. Not modified.

src - Original coordinate of the point. Not modified.

dst - Storage for transformed coordinate of the point. Point declared if null. Modified.

Returns:

Transformed point.

transform

public static Point3D_F64 transform(Se3_F64 se,
 double x,
 double y,
 double z,
 double w,
 @Nullable
 @Nullable Point3D_F64 dst)

transformV

public static Point3D_F64 transformV(Se3_F64 se,
 Point4D_F64 src,
 @Nullable
 @Nullable Point3D_F64 dst)

Applies the transform to src, but omits the last implicit last row in dst where dst.w = src.w

transformV

public static Point3D_F64 transformV(Se3_F64 se,
 double x,
 double y,
 double z,
 double w,
 @Nullable
 @Nullable Point3D_F64 dst)

transform

public static Point4D_F64 transform(Se3_F64 se,
 Point4D_F64 src,
 @Nullable
 @Nullable Point4D_F64 dst)

. Applies the transform specified by SpecialEuclidean to a homogenous point.

p' = [R t]*p

Both origPt and tranPt can be the same instance.

Parameters:

se - SpecialEuclidean transform. Not modified.

src - Original coordinate of the point. Not modified.

dst - Storage for transformed coordinate of the point. Point declared if null. Modified.

Returns:

Transformed point.

transform

public static Point4D_F64 transform(Se3_F64 se,
 double x,
 double y,
 double z,
 double w,
 @Nullable
 @Nullable Point4D_F64 dst)

transformReverse

public static Point4D_F64 transformReverse(Se3_F64 se,
 Point4D_F64 src,
 @Nullable
 @Nullable Point4D_F64 dst)

Applies the transform to points in homogenous coordinates.

Parameters:

se - SpecialEuclidean transform. Not modified.

src - Original coordinate of the point. Not modified.

dst - Storage for transformed coordinate of the point. Point declared if null. Modified.

Returns:

Transformed point.

transformReverse

public static Point4D_F64 transformReverse(Se3_F64 se,
 double x,
 double y,
 double z,
 double w,
 @Nullable
 @Nullable Point4D_F64 dst)

transformReverse

public static Point3D_F64 transformReverse(Se3_F64 se,
 Point3D_F64 origPt,
 @Nullable
 @Nullable Point3D_F64 tranPt)

. Applies the transform in the reverse direction

p = R^T*(p'-T)

Both origPt and tranPt can be the same instance.

Parameters:

se - SpecialEuclidean transform.

origPt - Original coordinate of the point.

tranPt - Transformed coordinate of the point.