public class LocalizerUtil
extends java.lang.Object
Constructor and Description |
---|
LocalizerUtil() |
Modifier and Type | Method and Description |
---|---|
static org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
calculatePlaneNormal(java.util.List<org.apache.commons.math3.geometry.euclidean.threed.Vector3D> points)
Calculates a normal vector to the plane defined by the point set.
|
static org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
calculatePosition(java.util.Collection<IReferencePoint> refPoints,
java.util.Collection<IReferenceLine> refLines,
org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
This method calculates the position from a set of reference points and
reference lines and the given orientation.
|
static org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
calculatePosition(java.util.Collection<IReferencePoint> refPoints,
org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
This method calculates the position from a set of reference points and the
given orientation.
|
static org.apache.commons.math3.geometry.euclidean.threed.Rotation |
umeyama(org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] movingVec,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] fixedVec)
An implementation of the umeyama point set registration method (known from
image processing).
|
public static org.apache.commons.math3.geometry.euclidean.threed.Vector3D calculatePlaneNormal(java.util.List<org.apache.commons.math3.geometry.euclidean.threed.Vector3D> points)
points
- the points forming a planepublic static org.apache.commons.math3.geometry.euclidean.threed.Vector3D calculatePosition(java.util.Collection<IReferencePoint> refPoints, org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
refPoints
- - a collection of reference points for position
calculationorientation
- - the rotation to transform local positions into global
positionspublic static org.apache.commons.math3.geometry.euclidean.threed.Vector3D calculatePosition(java.util.Collection<IReferencePoint> refPoints, java.util.Collection<IReferenceLine> refLines, org.apache.commons.math3.geometry.euclidean.threed.Rotation orientation)
refPoints
- - a collection of reference points for position
calculationrefLines
- - a collection of reference lines for position calculationorientation
- - the rotation to transform local positions into global
positionspublic static org.apache.commons.math3.geometry.euclidean.threed.Rotation umeyama(org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] movingVec, org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] fixedVec)
movingVec
- - the array of moving points to registerfixedVec
- - the array of corresponding fixed points