Module imagingbook.calibrate.lib

Package imagingbook.calibration.zhang

Class ViewTransform

java.lang.Object

imagingbook.calibration.zhang.ViewTransform

public class ViewTransform
extends Object

Instances of this class represent extrinsic camera (view) parameters.

Constructor Summary

Constructors

Constructor	Description
ViewTransform()
ViewTransform(double[] w)
ViewTransform(double rX, double rY, double rZ, double tX, double tY, double tZ)
ViewTransform(Rotation rot, double[] t)
ViewTransform(RealMatrix RT)
ViewTransform(RealMatrix R, RealVector t)

Method Summary

Modifier and Type	Method	Description
protected double[]	applyTo(double[] XYZ)	Moves point XYZ from 3D world coordinates to 3D camera coordinates, as specified by the transformations of this view.
protected double[]	getParameters()
Rotation	getRotation()
double[]	getRotationAxis()
RealMatrix	getRotationMatrix()
double[]	getTranslation()
RealVector	getTranslationVector()
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Details

ViewTransform

public ViewTransform()

ViewTransform

public ViewTransform(double rX,
 double rY,
 double rZ,
 double tX,
 double tY,
 double tZ)

ViewTransform

public ViewTransform(Rotation rot,
 double[] t)

ViewTransform

public ViewTransform(RealMatrix RT)

ViewTransform

public ViewTransform(RealMatrix R,
 RealVector t)

ViewTransform

public ViewTransform(double[] w)

Method Details

getParameters

protected double[] getParameters()

getRotation

public Rotation getRotation()

getRotationAxis

public double[] getRotationAxis()

getRotationMatrix

public RealMatrix getRotationMatrix()

getTranslation

public double[] getTranslation()

getTranslationVector

public RealVector getTranslationVector()

applyTo

protected double[] applyTo(double[] XYZ)

Moves point XYZ from 3D world coordinates to 3D camera coordinates, as specified by the transformations of this view. No projection is involved.

Parameters:

XYZ - a 3D (world) point

Returns:

the given world point mapped to 3D camera coordinates

toString

public String toString()

Overrides:

toString in class Object