Package com.irurueta.geometry

Class EuclideanTransformation3D

java.lang.Object
com.irurueta.geometry.Transformation3D
com.irurueta.geometry.EuclideanTransformation3D
All Implemented Interfaces:
Serializable
Direct Known Subclasses:
MetricTransformation3D
public class EuclideanTransformation3D extends Transformation3D implements Serializable
This class performs Euclidean transformations on 3D space. Euclidean transformations include transformations related to rotations and translations. Scale cannot be modified on Euclidean transformation.
See Also:

  • Field Details

    • NUM_TRANSLATION_COORDS

      public static final int NUM_TRANSLATION_COORDS
      Constant indicating number of coordinates required in translation arrays.
      See Also:

    • HOM_COORDS

      public static final int HOM_COORDS
      Constant defining number of homogeneous coordinates in 3D space.
      See Also:

    • rotation

      private Rotation3D rotation
      3D rotation to be performed on geometric objects.

    • translation

      private double[] translation
      3D translation to be performed on geometric objects. Translation is specified using inhomogeneous coordinates.

  • Constructor Details

    • EuclideanTransformation3D

      public EuclideanTransformation3D()
      Empty constructor. Creates transformation that has no effect.

    • EuclideanTransformation3D

      public EuclideanTransformation3D(Rotation3D rotation)
      Creates transformation with provided rotation.
      Parameters:
      rotation - A 2D rotation.
      Throws:
      NullPointerException - Raised if provided rotation is null.

    • EuclideanTransformation3D

      public EuclideanTransformation3D(double[] translation)
      Creates transformation with provided 3D translation.
      Parameters:
      translation - Array indicating 3D translation using in-homogenous coordinates.
      Throws:
      NullPointerException - Raised if provided array is null.
      IllegalArgumentException - Raised if length of array is not equal to NUM_TRANSLATION_COORDS.

    • EuclideanTransformation3D

      public EuclideanTransformation3D(Rotation3D rotation, double[] translation)
      Creates transformation with provided 3D rotation and translation.
      Parameters:
      rotation - A 3D rotation.
      translation - Array indicating 3D translation using inhomogeneous coordinates.
      Throws:
      NullPointerException - Raised if provided array is null.
      IllegalArgumentException - Raised if length of array is not equal to NUM_TRANSLATION_COORDS.

    • EuclideanTransformation3D

      public EuclideanTransformation3D(Point3D inputPoint1, Point3D inputPoint2, Point3D inputPoint3, Point3D inputPoint4, Point3D outputPoint1, Point3D outputPoint2, Point3D outputPoint3, Point3D outputPoint4) throws CoincidentPointsException
      Creates transformation by estimating its internal values using provided 4 corresponding original and transformed points.
      Parameters:
      inputPoint1 - 1st input point.
      inputPoint2 - 2nd input point.
      inputPoint3 - 3rd input point.
      inputPoint4 - 4th input point.
      outputPoint1 - 1st transformed point corresponding to 1st input point.
      outputPoint2 - 2nd transformed point corresponding to 2nd input point.
      outputPoint3 - 3rd transformed point corresponding to 3rd input point.
      outputPoint4 - 4th transformed point corresponding to 4th input point.
      Throws:
      CoincidentPointsException - raised if transformation cannot be estimated for some reason (point configuration degeneracy, duplicate points or numerical instabilities).

  • Method Details

    • getRotation

      public Rotation3D getRotation()
      Returns 3D rotation assigned to this transformation.
      Returns:
      3D rotation.

    • setRotation

      public void setRotation(Rotation3D rotation)
      Sets 3D rotation for this transformation.
      Parameters:
      rotation - A 3D rotation.
      Throws:
      NullPointerException - Raised if provided rotation is null.

    • addRotation

      public void addRotation(Rotation3D rotation)
      Adds provided rotation to current rotation assigned to this transformation.
      Parameters:
      rotation - 3D rotation to be added.

    • getTranslation

      public double[] getTranslation()
      Returns 3D translation assigned to this transformation as an array expressed in inhomogeneous coordinates.
      Returns:
      3D translation array.

    • setTranslation

      public void setTranslation(double[] translation)
      Sets 3D translation assigned to this transformation as an array expressed in inhomogeneous coordinates.
      Parameters:
      translation - 3D translation array.
      Throws:
      IllegalArgumentException - raised if provided array does not have length equal to NUM_TRANSLATION_COORDS.

    • addTranslation

      public void addTranslation(double[] translation)
      Adds provided translation to current translation on this transformation. Provided translation must be expressed as an array of inhomogeneous coordinates.
      Parameters:
      translation - 3D translation array.
      Throws:
      IllegalArgumentException - raised if provided array does not have length equal to NUM_TRANSLATION_COORDS.

    • getTranslationX

      public double getTranslationX()
      Returns current x coordinate translation assigned to this transformation.
      Returns:
      X coordinate translation.

    • setTranslationX

      public void setTranslationX(double translationX)
      Sets x coordinate translation to be made by this transformation.
      Parameters:
      translationX - X coordinate translation to be set.

    • getTranslationY

      public double getTranslationY()
      Returns current y coordinate translation assigned to this transformation.
      Returns:
      Y coordinate translation.

    • setTranslationY

      public void setTranslationY(double translationY)
      Sets y coordinate translation to be made by this transformation.
      Parameters:
      translationY - Y coordinate translation to be set.

    • getTranslationZ

      public double getTranslationZ()
      Returns current z coordinate translation assigned to this transformation.
      Returns:
      Z coordinate translation.

    • setTranslationZ

      public void setTranslationZ(double translationZ)
      Sets z coordinate translation to be made by this transformation.
      Parameters:
      translationZ - Z coordinate translation to be set.

    • setTranslation

      public void setTranslation(double translationX, double translationY, double translationZ)
      Sets x, y, z coordinates of translation to be made by this transformation.
      Parameters:
      translationX - translation x coordinate to be set.
      translationY - translation y coordinate to be set.
      translationZ - translation z coordinate to be set.

    • setTranslation

      public void setTranslation(Point3D translation)
      Sets x, y, z coordinates of translation to be made by this transformation.
      Parameters:
      translation - translation to be set.

    • getTranslationPoint

      public Point3D getTranslationPoint()
      Gets x, y, z coordinates of translation to be made by this transformation as a new point.
      Returns:
      a new point containing translation coordinates.

    • getTranslationPoint

      public void getTranslationPoint(Point3D out)
      Gets x, y, z coordinates of translation to be made by this transformation and stores them into provided point.
      Parameters:
      out - point where translation coordinates will be stored.

    • addTranslationX

      public void addTranslationX(double translationX)
      Adds provided x coordinate to current translation assigned to this transformation.
      Parameters:
      translationX - X coordinate to be added to current translation.

    • addTranslationY

      public void addTranslationY(double translationY)
      Adds provided y coordinate to current translation assigned to this transformation.
      Parameters:
      translationY - Y coordinate to be added to current translation.

    • addTranslationZ

      public void addTranslationZ(double translationZ)
      Adds provided z coordinate to current translation assigned to this transformation.
      Parameters:
      translationZ - Z coordinate to be added to current translation.

    • addTranslation

      public void addTranslation(double translationX, double translationY, double translationZ)
      Adds provided coordinates to current translation assigned to this transformation.
      Parameters:
      translationX - x coordinate to be added to current translation.
      translationY - y coordinate to be added to current translation.
      translationZ - z coordinate to be added to current translation.

    • addTranslation

      public void addTranslation(Point3D translation)
      Adds provided coordinates to current translation assigned to this transformation.
      Parameters:
      translation - x, y, z coordinates to be added to current translation.

    • asMatrix

      public com.irurueta.algebra.Matrix asMatrix()
      Represents this transformation as a 4x4 matrix. A point can be transformed as T * p, where T is the transformation matrix and p is a point expressed as an homogeneous vector.
      Specified by:
      asMatrix in class Transformation3D
      Returns:
      This transformation in matrix form.

    • asMatrix

      public void asMatrix(com.irurueta.algebra.Matrix m)
      Represents this transformation as a 4x4 matrix and stores the result in provided instance.
      Specified by:
      asMatrix in class Transformation3D
      Parameters:
      m - instance where transformation matrix will be stored.
      Throws:
      IllegalArgumentException - raised if provided instance is not a 4x4 matrix.

    • transform

      public void transform(Point3D inputPoint, Point3D outputPoint)
      Transforms input point using this transformation and stores the result in provided output points.
      Specified by:
      transform in class Transformation3D
      Parameters:
      inputPoint - point to be transformed.
      outputPoint - instance where transformed point data will be stored.

    • transform

      public void transform(Quadric inputQuadric, Quadric outputQuadric) throws NonSymmetricMatrixException
      Transforms a quadric using this transformation and stores the result into provided output quadric.
      Specified by:
      transform in class Transformation3D
      Parameters:
      inputQuadric - Quadric to be transformed.
      outputQuadric - instance where data of transformed quadric will be stored.
      Throws:
      NonSymmetricMatrixException - raised if due to numerical precision the resulting output quadric matrix is not considered to be symmetric.

    • transform

      public void transform(DualQuadric inputDualQuadric, DualQuadric outputDualQuadric) throws NonSymmetricMatrixException
      Transforms a dual quadric using this transformation and stores the result into provided output dual quadric.
      Specified by:
      transform in class Transformation3D
      Parameters:
      inputDualQuadric - dual quadric to be transformed.
      outputDualQuadric - instance where data of transformed dual quadric will be stored.
      Throws:
      NonSymmetricMatrixException - raised if due to numerical precision. the resulting output dual quadric matrix is not considered to be symmetric.

    • transform

      public void transform(Plane inputPlane, Plane outputPlane)
      Transforms provided input plane using this transformation and stores the result into provided output plane instance.
      Specified by:
      transform in class Transformation3D
      Parameters:
      inputPlane - plane to be transformed.
      outputPlane - instance where data of transformed plane will be stored.

    • transform

      public void transform(PinholeCamera inputCamera, PinholeCamera outputCamera)
      Transforms a camera using this transformation and stores the result into provided output camera.
      Specified by:
      transform in class Transformation3D
      Parameters:
      inputCamera - camera to be transformed.
      outputCamera - instance where data of transformed camera will be stored.

    • toMetric

      public MetricTransformation3D toMetric()
      Converts this transformation into a metric transformation.
      Returns:
      this transformation converted into a metric transformation.

    • inverse

      public void inverse()
      Inverses this transformation.

    • inverseAndReturnNew

      public Transformation3D inverseAndReturnNew()
      Computes the inverse of this transformation and returns the result as a new transformation instance.
      Returns:
      inverse transformation.

    • combine

      public void combine(EuclideanTransformation3D transformation)
      Combines this transformation with provided transformation. The combination is equivalent to multiplying the matrix of this transformation with the matrix of provided transformation.
      Parameters:
      transformation - Transformation to be combined with.

    • combineAndReturnNew

      public EuclideanTransformation3D combineAndReturnNew(EuclideanTransformation3D transformation)
      Combines this transformation with provided transformation and returns the result as a new transformation instance. The combination is equivalent to multiplying the matrix of this transformation with the matrix pf provided transformation.
      Parameters:
      transformation - Transformation to be combined with.
      Returns:
      A new transformation resulting of the combination with this transformation and provided transformation.

    • setTransformationFromPoints

      public void setTransformationFromPoints(Point3D inputPoint1, Point3D inputPoint2, Point3D inputPoint3, Point3D inputPoint4, Point3D outputPoint1, Point3D outputPoint2, Point3D outputPoint3, Point3D outputPoint4) throws CoincidentPointsException
      Estimates this transformation internal parameters by using 4 corresponding original and transformed points.
      Parameters:
      inputPoint1 - 1st input point.
      inputPoint2 - 2nd input point.
      inputPoint3 - 3rd input point.
      inputPoint4 - 4th input point.
      outputPoint1 - 1st transformed point corresponding to 1st input point.
      outputPoint2 - 2nd transformed point corresponding to 2nd input point.
      outputPoint3 - 3rd transformed point corresponding to 3rd input point.
      outputPoint4 - 4th transformed point corresponding to 4th input point.
      Throws:
      CoincidentPointsException - raised if transformation cannot be estimated for some reason (point configuration degeneracy, duplicate points or numerical instabilities).

    • inverse

      protected void inverse(EuclideanTransformation3D result)
      Computes the inverse of this transformation and stores the result in provided instance.
      Parameters:
      result - instance where inverse transformation will be stored.

    • combine

      private void combine(EuclideanTransformation3D inputTransformation, EuclideanTransformation3D outputTransformation)
      Combines this transformation with provided input transformation and stores the result into provided output transformation. The combination is equivalent to multiplying the matrix of this transformation with the matrix of provided input transformation.
      Parameters:
      inputTransformation - transformation to be combined with.
      outputTransformation - transformation where result will be stored.

    • internalSetTransformationFromPoints

      private void internalSetTransformationFromPoints(Point3D inputPoint1, Point3D inputPoint2, Point3D inputPoint3, Point3D inputPoint4, Point3D outputPoint1, Point3D outputPoint2, Point3D outputPoint3, Point3D outputPoint4) throws CoincidentPointsException
      Estimates this transformation internal parameters by using 4 corresponding original and transformed points.
      Parameters:
      inputPoint1 - 1st input point.
      inputPoint2 - 2nd input point.
      inputPoint3 - 3rd input point.
      inputPoint4 - 4th input point.
      outputPoint1 - 1st transformed point corresponding to 1st input point.
      outputPoint2 - 2nd transformed point corresponding to 2nd input point.
      outputPoint3 - 3rd transformed point corresponding to 3rd input point.
      outputPoint4 - 4th transformed point corresponding to 4th input point.
      Throws:
      CoincidentPointsException - raised if transformation cannot be estimated for some reason (point configuration degeneracy, duplicate points or numerical instabilities).