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PerspectiveTransform2D< T > Class Template Reference

The PerspectiveTransform2D is a perspective transform in 2D. More...

#include <PerspectiveTransform2D.hpp>

Public Member Functions

 PerspectiveTransform2D ()
 constructor
 
 PerspectiveTransform2D (T r11, T r12, T r13, T r21, T r22, T r23, T r31, T r32, T r33)
 constructor
 
template<class R >
 PerspectiveTransform2D (const Eigen::Matrix< R, 3, 3 > &r)
 constructor More...
 
template<class R >
 PerspectiveTransform2D (const Eigen::MatrixBase< R > &r)
 constructor More...
 
PerspectiveTransform2D< T > inverse () const
 Returns the inverse of the PerspectiveTransform.
 
T & operator() (std::size_t row, std::size_t col)
 Returns matrix element reference. More...
 
const T & operator() (std::size_t row, std::size_t col) const
 Returns const matrix element reference. More...
 
rw::math::Vector2D< T > operator* (const rw::math::Vector2D< T > &v) const
 transform a point using this perspective transform
 
rw::math::Vector3D< T > calc3dVec (const PerspectiveTransform2D< T > &hT, const rw::math::Vector2D< T > &v)
 transform a 2d point into a 3d point with this perspective transform More...
 
const Eigen::Matrix< T, 3, 3 > & e () const
 Returns reference to the 3x3 matrix \( \mathbf{M}\in SO(3) \) that represents this rotation. More...
 
Eigen::Matrix< T, 3, 3 > & e ()
 Returns reference to the 3x3 matrix \( \mathbf{M}\in SO(3) \) that represents this rotation. More...
 

Static Public Member Functions

static PerspectiveTransform2D< T > calcTransform (std::vector< rw::math::Vector2D< T >> pts1, std::vector< rw::math::Vector2D< T >> pts2)
 calculates a PerspectiveTransform2D that maps points from point set pts1 to point set pts2 More...
 

Related Functions

(Note that these are not member functions.)

template<class T >
PerspectiveTransform2D< T > inverse (const PerspectiveTransform2D< T > &aRb)
 Take the inverse of a PerspectiveTransform2D. More...
 
template<>
void write (const rw::math::PerspectiveTransform2D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
 
template<>
void write (const rw::math::PerspectiveTransform2D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
 
template<>
void read (rw::math::PerspectiveTransform2D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
 
template<>
void read (rw::math::PerspectiveTransform2D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
 

Detailed Description

template<class T = double>
class rw::math::PerspectiveTransform2D< T >

The PerspectiveTransform2D is a perspective transform in 2D.

The homographic transform can be used to map one arbitrary 2D quadrilateral into another.

Constructor & Destructor Documentation

◆ PerspectiveTransform2D() [1/2]

PerspectiveTransform2D ( const Eigen::Matrix< R, 3, 3 > &  r)
inlineexplicit

constructor

Parameters
r
Returns

◆ PerspectiveTransform2D() [2/2]

PerspectiveTransform2D ( const Eigen::MatrixBase< R > &  r)
inlineexplicit

constructor

Parameters
r
Returns

Member Function Documentation

◆ calc3dVec()

rw::math::Vector3D<T> calc3dVec ( const PerspectiveTransform2D< T > &  hT,
const rw::math::Vector2D< T > &  v 
)
inline

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

Parameters
hT
v
Returns

◆ calcTransform()

static PerspectiveTransform2D<T> calcTransform ( std::vector< rw::math::Vector2D< T >>  pts1,
std::vector< rw::math::Vector2D< T >>  pts2 
)
static

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

◆ e() [1/2]

Eigen::Matrix<T, 3, 3>& e ( )
inline

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

Returns
\( \mathbf{M}\in SO(3) \)

◆ e() [2/2]

const Eigen::Matrix<T, 3, 3>& e ( ) const
inline

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

Returns
\( \mathbf{M}\in SO(3) \)

◆ operator()() [1/2]

T& operator() ( std::size_t  row,
std::size_t  col 
)
inline

Returns matrix element reference.

Parameters
row[in] row, row must be \( < 3 \)
col[in] col, col must be \( < 3 \)
Returns
reference to matrix element

◆ operator()() [2/2]

const T& operator() ( std::size_t  row,
std::size_t  col 
) const
inline

Returns const matrix element reference.

Parameters
row[in] row, row must be \( < 3 \)
col[in] col, col must be \( < 3 \)
Returns
const reference to matrix element

Friends And Related Function Documentation

◆ inverse()

PerspectiveTransform2D< T > inverse ( const PerspectiveTransform2D< T > &  aRb)
related

Take the inverse of a PerspectiveTransform2D.

Parameters
aRb[in] a PerspectiveTransform2D.
Returns
the inverse of aRb .

◆ read() [1/2]

void read ( rw::math::PerspectiveTransform2D< double > &  sobject,
rw::common::InputArchive &  iarchive,
const std::string &  id 
)
related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters
sobject[out] the object in which the data should be streamed into
iarchive[in] the InputArchive from which to read data.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ read() [2/2]

void read ( rw::math::PerspectiveTransform2D< float > &  sobject,
rw::common::InputArchive &  iarchive,
const std::string &  id 
)
related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters
sobject[out] the object in which the data should be streamed into
iarchive[in] the InputArchive from which to read data.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [1/2]

void write ( const rw::math::PerspectiveTransform2D< double > &  sobject,
rw::common::OutputArchive &  oarchive,
const std::string &  id 
)
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
sobject[in] the object from which the data should be streamed.
oarchive[out] the OutputArchive in which data should be written.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [2/2]

void write ( const rw::math::PerspectiveTransform2D< float > &  sobject,
rw::common::OutputArchive &  oarchive,
const std::string &  id 
)
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
sobject[in] the object from which the data should be streamed.
oarchive[out] the OutputArchive in which data should be written.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.
The documentation for this class was generated from the following files:
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