Represents a 3D transformation [4x4] matrix. More...

#include <eVision/Easy3D/E3DTransformMatrix.h>

Collaboration diagram for eVision::Easy3D::E3DTransformMatrix:

Public Member Functions
	E3DTransformMatrix ()
	Creates an E3DTransformMatrix object.
	E3DTransformMatrix (const eVision::Easy3D::E3DTransformMatrix &other)
	Creates an E3DTransformMatrix object.
	E3DTransformMatrix (double m00, double m10, double m20, double m30, double m01, double m11, double m21, double m31, double m02, double m12, double m22, double m32, double m03, double m13, double m23, double m33)
	Creates an E3DTransformMatrix object.
virtual	~E3DTransformMatrix () throw ()
eVision::Easy3D::E3DTransformMatrix &	operator= (const eVision::Easy3D::E3DTransformMatrix &other)
	Assignment operator.
bool	operator== (const eVision::Easy3D::E3DTransformMatrix &other) const
	Checks if two E3DTransformMatrix objects are strictly equals (binary level).
bool	operator!= (const eVision::Easy3D::E3DTransformMatrix &other) const
	Checks if two E3DTransformMatrix objects are strictly different (binary level).
eVision::Easy3D::E3DTransformMatrix	operator* (const eVision::Easy3D::E3DTransformMatrix &matrix) const
	E3DTransformMatrix product.
eVision::Easy3D::E3DPoint	operator* (eVision::Easy3D::E3DPoint P) const
	E3DTransformMatrix product.
eVision::Easy3D::E3DTransformMatrix	operator+ (const eVision::Easy3D::E3DTransformMatrix &matrix) const
	E3DTransformMatrix sum. Sums the current and the given matrix, returns the result.
eVision::Easy3D::E3DTransformMatrix	operator- (const eVision::Easy3D::E3DTransformMatrix &matrix) const
	E3DTransformMatrix difference. Subtract the current and the given matrix, returns the result.
void	SetValue (unsigned int column, unsigned int row, float value)
	Sets a value in the E3DTransformMatrix object.
float	GetValue (unsigned int column, unsigned int row) const
	Gets a value from the E3DTransformMatrix object.
void	GetOrthoBasis (eVision::Easy3D::E3DPoint &e1, eVision::Easy3D::E3DPoint &e2, eVision::Easy3D::E3DPoint &e3, eVision::Easy3D::E3DPoint &t) const
	Gets the orthogonal basis represented by this transformation or throws an exception if it is not a rigid transformation.
eVision::Easy3D::E3DPoint	GetEulerAngles () const
	Gets the Euler angles for the rotation represented by this transformation. The returned value is a 3D point with Euler angles around X, Y and Z axis. The E3DTransformMatrix must be rigid (translation and rotation only).
eVision::Easy3D::EAzimuthElevationAngles	GetAzimuthElevationAngles () const
	Gets the azimuth and elevation angles for the Z axis of the coordinate system represented by the transformation matrix.
void	GetAzimuthElevationAngles (float &azimuth, float &elevation) const
	Gets the azimuth and elevation angles for the Z axis of the coordinate system represented by the transformation matrix.
bool	IsRigid () const
	Checks that the transformation is a rigid transformation (keep the distances and angles).
void	Load (const std::string &path)
	Loads the E3DTransformMatrix object. The given ESerializer must have been created for reading.
void	Load (eVision::ESerializer *serializer)
	Loads the E3DTransformMatrix object. The given ESerializer must have been created for reading.
void	Save (const std::string &path)
	Saves the E3DTransformMatrix object. The given ESerializer must have been created for writing.
void	Save (eVision::ESerializer *serializer)
	Saves the E3DTransformMatrix object. The given ESerializer must have been created for writing.
eVision::Easy3D::E3DTransformMatrix	Transpose () const
	Returns the transposed E3DTransformMatrix. If the matrix is orthogonal (rotation only transformation), the transposed matrix is the inverse transformation.
eVision::Easy3D::E3DTransformMatrix	Inverse () const
	Returns the inverted E3DTransformMatrix. An exception will be thrown if the determinant of the matrix is 0.
	E3DTransformMatrix (CppWrapperInternal::InternalConstructor)

Static Public Member Functions
static eVision::Easy3D::E3DTransformMatrix	CreateIdentityMatrix ()
	Creates an identity (neutral) E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreateRotationXMatrix (float angle)
	Creates a rotation E3DTransformMatrix around the X axis matrix.
static eVision::Easy3D::E3DTransformMatrix	CreateRotationYMatrix (float angle)
	Creates a rotation E3DTransformMatrix around the Y axis matrix.
static eVision::Easy3D::E3DTransformMatrix	CreateRotationZMatrix (float angle)
	Creates a rotation E3DTransformMatrix around the Z axis matrix.
static eVision::Easy3D::E3DTransformMatrix	CreateRotationMatrix (const eVision::Easy3D::E3DPoint &axis, float angle)
	Creates a rotation E3DTransformMatrix around the given axis for the given angle.
static eVision::Easy3D::E3DTransformMatrix	CreateTranslationMatrix (float dX, float dY, float dZ)
	Creates a translation E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreateIsotropicScalingMatrix (float scale)
	Creates an isotropic scaling E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreateAnisotropicScalingMatrix (float scaleX, float scaleY, float scaleZ)
	Creates an anisotropic scaling E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreatePerspectiveProjectionMatrix (float distance, float width, float height)
	Creates a perspective projection E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreateOrthographicProjectionMatrix (float width, float height)
	Creates an orthographic projection E3DTransformMatrix.
static eVision::Easy3D::E3DTransformMatrix	CreateOrthoBasis (const eVision::Easy3D::E3DPoint &e1, const eVision::Easy3D::E3DPoint &e2, const eVision::Easy3D::E3DPoint &e3, const eVision::Easy3D::E3DPoint &t)
	Creates a orthonormal E3DTransformMatrix basis (corresponds to a rigid transformation).

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Represents a 3D transformation [4x4] matrix.

License(s): Easy3D

Constructor & Destructor Documentation

◆ E3DTransformMatrix() [1/4]

eVision::Easy3D::E3DTransformMatrix::E3DTransformMatrix ( )

Creates an E3DTransformMatrix object.

The matrix is initialized with the given values.

By default, the matrix is initialized as an identity (neutral) matrix.

The value indices are m(column, row).

◆ E3DTransformMatrix() [2/4]

eVision::Easy3D::E3DTransformMatrix::E3DTransformMatrix ( const eVision::Easy3D::E3DTransformMatrix & other )

Creates an E3DTransformMatrix object.

Parameters

other Another E3DTransformMatrix used for the initialization.

The matrix is initialized with the given values.

By default, the matrix is initialized as an identity (neutral) matrix.

The value indices are m(column, row).

◆ E3DTransformMatrix() [3/4]

eVision::Easy3D::E3DTransformMatrix::E3DTransformMatrix	(	double	m00,
		double	m10,
		double	m20,
		double	m30,
		double	m01,
		double	m11,
		double	m21,
		double	m31,
		double	m02,
		double	m12,
		double	m22,
		double	m32,
		double	m03,
		double	m13,
		double	m23,
		double	m33 )

Creates an E3DTransformMatrix object.

Parameters

m00	Matrix value line 0 column 0.
m10	Matrix value line 0 column 1.
m20	Matrix value line 0 column 2.
m30	Matrix value line 0 column 3.
m01	Matrix value line 1 column 0.
m11	Matrix value line 1 column 1.
m21	Matrix value line 1 column 2.
m31	Matrix value line 1 column 3.
m02	Matrix value line 2 column 0.
m12	Matrix value line 2 column 1.
m22	Matrix value line 2 column 2.
m32	Matrix value line 2 column 3.
m03	Matrix value line 3 column 0.
m13	Matrix value line 3 column 1.
m23	Matrix value line 3 column 2.
m33	Matrix value line 3 column 3.

The matrix is initialized with the given values.

By default, the matrix is initialized as an identity (neutral) matrix.

The value indices are m(column, row).

◆ ~E3DTransformMatrix()

eVision::Easy3D::E3DTransformMatrix::~E3DTransformMatrix	(		)
throw	(	)

virtual

◆ E3DTransformMatrix() [4/4]

eVision::Easy3D::E3DTransformMatrix::E3DTransformMatrix ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ CreateAnisotropicScalingMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateAnisotropicScalingMatrix	(	float	scaleX,
		float	scaleY,
		float	scaleZ )

static

Creates an anisotropic scaling E3DTransformMatrix.

Parameters

scaleX	Scaling factor along the X axis.
scaleY	Scaling factor along the Y axis.
scaleZ	Scaling factor along the Z axis.

◆ CreateIdentityMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateIdentityMatrix ( )

static

Creates an identity (neutral) E3DTransformMatrix.

◆ CreateIsotropicScalingMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateIsotropicScalingMatrix ( float scale )

static

Creates an isotropic scaling E3DTransformMatrix.

Parameters

scale Scaling factor.

◆ CreateOrthoBasis()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateOrthoBasis	(	const eVision::Easy3D::E3DPoint &	e1,
		const eVision::Easy3D::E3DPoint &	e2,
		const eVision::Easy3D::E3DPoint &	e3,
		const eVision::Easy3D::E3DPoint &	t )

static

Creates a orthonormal E3DTransformMatrix basis (corresponds to a rigid transformation).

The vector e1, e2, e3 should form a right-handed orthogonal basis.

Parameters

e1	Vector 1.
e2	Vector 2.
e3	Vector 3.
t	Translation.

◆ CreateOrthographicProjectionMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateOrthographicProjectionMatrix	(	float	width,
		float	height )

static

Creates an orthographic projection E3DTransformMatrix.

Parameters

width	Width of the viewport.
height	Height of the viewport.

◆ CreatePerspectiveProjectionMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreatePerspectiveProjectionMatrix	(	float	distance,
		float	width,
		float	height )

static

Creates a perspective projection E3DTransformMatrix.

Parameters

distance	Distance of the viewport to the origin.
width	Width of the viewport.
height	Height of the viewport.

◆ CreateRotationMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateRotationMatrix	(	const eVision::Easy3D::E3DPoint &	axis,
		float	angle )

static

Creates a rotation E3DTransformMatrix around the given axis for the given angle.

Parameters

axis	Rotation axis.
angle	Rotation angle.

◆ CreateRotationXMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateRotationXMatrix ( float angle )

static

Creates a rotation E3DTransformMatrix around the X axis matrix.

Parameters

angle Rotation angle.

◆ CreateRotationYMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateRotationYMatrix ( float angle )

static

Creates a rotation E3DTransformMatrix around the Y axis matrix.

Parameters

angle Rotation angle.

◆ CreateRotationZMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateRotationZMatrix ( float angle )

static

Creates a rotation E3DTransformMatrix around the Z axis matrix.

Parameters

angle Rotation angle.

◆ CreateTranslationMatrix()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::CreateTranslationMatrix	(	float	dX,
		float	dY,
		float	dZ )

static

Creates a translation E3DTransformMatrix.

Parameters

dX	Translation along the X axis.
dY	Translation along the Y axis.
dZ	Translation along the Z axis.

◆ GetAzimuthElevationAngles() [1/2]

eVision::Easy3D::EAzimuthElevationAngles eVision::Easy3D::E3DTransformMatrix::GetAzimuthElevationAngles ( ) const

Gets the azimuth and elevation angles for the Z axis of the coordinate system represented by the transformation matrix.

Azimuth angle is oriented trigonometrically around the z axis. The x axis corresponds to an azimuth of 0 degrees. Elevation angle represents the height of the normal w.r.t. the z = 0 plane.

The E3DTransformMatrix must be rigid (translation and rotation only).

◆ GetAzimuthElevationAngles() [2/2]

void eVision::Easy3D::E3DTransformMatrix::GetAzimuthElevationAngles	(	float &	azimuth,
		float &	elevation ) const

Gets the azimuth and elevation angles for the Z axis of the coordinate system represented by the transformation matrix.

Azimuth angle is oriented trigonometrically around the z axis. The x axis corresponds to an azimuth of 0 degrees.

Elevation angle represents the height of the normal w.r.t. the z = 0 plane.

The E3DTransformMatrix must be rigid (translation and rotation only).

Parameters

azimuth	The returned azimuth angle.
elevation	The returned elevation angle.

Deprecated: Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ GetEulerAngles()

eVision::Easy3D::E3DPoint eVision::Easy3D::E3DTransformMatrix::GetEulerAngles ( ) const

Gets the Euler angles for the rotation represented by this transformation. The returned value is a 3D point with Euler angles around X, Y and Z axis. The E3DTransformMatrix must be rigid (translation and rotation only).

◆ GetOrthoBasis()

void eVision::Easy3D::E3DTransformMatrix::GetOrthoBasis	(	eVision::Easy3D::E3DPoint &	e1,
		eVision::Easy3D::E3DPoint &	e2,
		eVision::Easy3D::E3DPoint &	e3,
		eVision::Easy3D::E3DPoint &	t ) const

Gets the orthogonal basis represented by this transformation or throws an exception if it is not a rigid transformation.

Parameters

e1	Vector 1.
e2	Vector 2.
e3	Vector 3.
t	Translation.

◆ GetValue()

float eVision::Easy3D::E3DTransformMatrix::GetValue	(	unsigned int	column,
		unsigned int	row ) const

Gets a value from the E3DTransformMatrix object.

Parameters

column	Column of the value to get, from 0 to 3.
row	Row of the value to get, from 0 to 3.

◆ Inverse()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::Inverse ( ) const

Returns the inverted E3DTransformMatrix. An exception will be thrown if the determinant of the matrix is 0.

◆ IsRigid()

bool eVision::Easy3D::E3DTransformMatrix::IsRigid ( ) const

Checks that the transformation is a rigid transformation (keep the distances and angles).

◆ Load() [1/2]

void eVision::Easy3D::E3DTransformMatrix::Load ( const std::string & path )

Loads the E3DTransformMatrix object. The given ESerializer must have been created for reading.

Parameters

path	The file path.

◆ Load() [2/2]

void eVision::Easy3D::E3DTransformMatrix::Load ( eVision::ESerializer * serializer )

Loads the E3DTransformMatrix object. The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

◆ operator!=()

bool eVision::Easy3D::E3DTransformMatrix::operator!= ( const eVision::Easy3D::E3DTransformMatrix & other ) const

Checks if two E3DTransformMatrix objects are strictly different (binary level).

Parameters

other The other matrix.

◆ operator*() [1/2]

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::operator* ( const eVision::Easy3D::E3DTransformMatrix & matrix ) const

E3DTransformMatrix product.

Combines the transformations of the two matrices when argument is an E3DTransformMatrix.

Multiplies the current E3DTransformMatrix with the given E3DPoint

Parameters

matrix Matrix to combine with the current matrix.

In python, use EAffineTransformer::AddTransform and EAffineTransformer::ApplyTransform or EAffineTransformer::ApplyMatrix instead.

◆ operator*() [2/2]

eVision::Easy3D::E3DPoint eVision::Easy3D::E3DTransformMatrix::operator* ( eVision::Easy3D::E3DPoint P ) const

E3DTransformMatrix product.

Combines the transformations of the two matrices when argument is an E3DTransformMatrix.

Multiplies the current E3DTransformMatrix with the given E3DPoint

Parameters

P	Point to transform with the current matrix.

In python, use EAffineTransformer::AddTransform and EAffineTransformer::ApplyTransform or EAffineTransformer::ApplyMatrix instead.

◆ operator+()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::operator+ ( const eVision::Easy3D::E3DTransformMatrix & matrix ) const

E3DTransformMatrix sum. Sums the current and the given matrix, returns the result.

Parameters

matrix Matrix to add with the current matrix.

◆ operator-()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::operator- ( const eVision::Easy3D::E3DTransformMatrix & matrix ) const

E3DTransformMatrix difference. Subtract the current and the given matrix, returns the result.

Parameters

matrix Matrix to subtract from the current matrix.

◆ operator=()

eVision::Easy3D::E3DTransformMatrix & eVision::Easy3D::E3DTransformMatrix::operator= ( const eVision::Easy3D::E3DTransformMatrix & other )

Assignment operator.

Parameters

other An other E3DTransformMatrix.

◆ operator==()

bool eVision::Easy3D::E3DTransformMatrix::operator== ( const eVision::Easy3D::E3DTransformMatrix & other ) const

Checks if two E3DTransformMatrix objects are strictly equals (binary level).

Parameters

other The other matrix.

◆ Save() [1/2]

void eVision::Easy3D::E3DTransformMatrix::Save ( const std::string & path )

Saves the E3DTransformMatrix object. The given ESerializer must have been created for writing.

Parameters

path	The file path.

◆ Save() [2/2]

void eVision::Easy3D::E3DTransformMatrix::Save ( eVision::ESerializer * serializer )

Saves the E3DTransformMatrix object. The given ESerializer must have been created for writing.

Parameters

serializer The ESerializer object that is written to.

◆ SetValue()

void eVision::Easy3D::E3DTransformMatrix::SetValue	(	unsigned int	column,
		unsigned int	row,
		float	value )

Sets a value in the E3DTransformMatrix object.

Parameters

column	Column of the value to set, from 0 to 3.
row	Row of the value to set, from 0 to 3.
value	Value to set.

◆ Transpose()

eVision::Easy3D::E3DTransformMatrix eVision::Easy3D::E3DTransformMatrix::Transpose ( ) const

Returns the transposed E3DTransformMatrix. If the matrix is orthogonal (rotation only transformation), the transposed matrix is the inverse transformation.

Member Data Documentation

◆ wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::E3DTransformMatrix::wrappedClass_

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ E3DTransformMatrix() [1/4]

◆ E3DTransformMatrix() [2/4]

◆ E3DTransformMatrix() [3/4]

◆ ~E3DTransformMatrix()

◆ E3DTransformMatrix() [4/4]

Member Function Documentation

◆ CreateAnisotropicScalingMatrix()

◆ CreateIdentityMatrix()

◆ CreateIsotropicScalingMatrix()

◆ CreateOrthoBasis()

◆ CreateOrthographicProjectionMatrix()

◆ CreatePerspectiveProjectionMatrix()

◆ CreateRotationMatrix()

◆ CreateRotationXMatrix()

◆ CreateRotationYMatrix()

◆ CreateRotationZMatrix()

◆ CreateTranslationMatrix()

◆ GetAzimuthElevationAngles() [1/2]

◆ GetAzimuthElevationAngles() [2/2]

◆ GetEulerAngles()

◆ GetOrthoBasis()

◆ GetValue()

◆ Inverse()

◆ IsRigid()

◆ Load() [1/2]

◆ Load() [2/2]

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator-()

◆ operator=()

◆ operator==()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetValue()

◆ Transpose()

Member Data Documentation

◆ wrappedClass_