Affine transformation matrix for 3D. More...

#include <cvb/affine_matrix_3d.hpp>

Public Member Functions
	AffineMatrix3D () noexcept=default
	Default constructor for empty transformation. More...

	AffineMatrix3D (Matrix3D matrix, Vector3D< double > translation) noexcept
	Defines a transformation. More...

Matrix3D	Matrix () const noexcept
	Gets the matrix part of the transformation. More...

void	SetMatrix (Matrix3D matrix) noexcept
	Sets the matrix part of the transformation. More...

Vector3D< double >	Translation () const noexcept
	Gets the translation part of the transformation. More...

void	SetTranslation (Vector3D< double > translation) noexcept
	Sets the translation part of the transformation. More...

bool	IsTranslation () const noexcept
	Checks if this transformation describes a translation. More...

double	Det () const
	Transformation determinant. More...

void	Invert ()
	Inverts this transformation if possible. More...

bool	operator== (const AffineMatrix3D &transformation) const noexcept
	Compares to an other transformation. More...

bool	operator!= (const AffineMatrix3D &transformation) const noexcept
	Compares to an other transformation. More...

AffineMatrix3D &	operator+= (const AffineMatrix3D &transformation) noexcept
	Adds and assigns to this affine matrix. More...

AffineMatrix3D &	operator -= (const AffineMatrix3D &transformation) noexcept
	Subtracts and assigns to this transformation. More...

AffineMatrix3D &	operator *= (const AffineMatrix3D &transformation)
	Multiplies and assigns to this transformation. More...

AffineMatrix3D &	operator *= (const double &value) noexcept
	Multiplies and assigns to this transformation. More...

AffineMatrix3D &	operator/= (const double &value) noexcept
	Divides each element of this transformation by the given value. More...

Static Public Member Functions
static AffineMatrix3D	Identity () noexcept
	The identity element. More...

Related Functions
(Note that these are not member functions.)
AffineMatrix3D	operator+ (const AffineMatrix3D &lhs, const AffineMatrix3D &rhs) noexcept
	Add two transformations. More...

AffineMatrix3D	operator- (const AffineMatrix3D &lhs, const AffineMatrix3D &rhs) noexcept
	Subtract two transformations. More...

AffineMatrix3D	operator * (const AffineMatrix3D &lhs, const AffineMatrix3D &rhs)
	Multiply two transformations. More...

AffineMatrix3D	operator * (const AffineMatrix3D &lhs, const double &rhs) noexcept
	Multiply transformation with scalar. More...

AffineMatrix3D	operator * (const double &lhs, const AffineMatrix3D &rhs) noexcept
	Multiply scalar with transformation. More...

AffineMatrix3D	operator/ (const AffineMatrix3D &lhs, const double &rhs)
	Divide transformation by scalar. More...

Detailed Description

Affine transformation matrix for 3D.

This is a compact version of CVC3DMatrixH with the last row being { 0, 0, 0, 1 }. So no perspective transformation is possible, but translation, rotation and scaling is.

Examples: Foundation/CppMetricCalibration, Foundation/CppMetricCalibrationInclinationLaserPlane, and Foundation/CppMetricCalibrationRigidBodyTrafo.

Constructor & Destructor Documentation

◆ AffineMatrix3D() [1/2]

AffineMatrix3D ( )

defaultnoexcept

Default constructor for empty transformation.

Exceptions

Does	not throw any exception.

◆ AffineMatrix3D() [2/2]

AffineMatrix3D	(	Matrix3D	matrix,
		Vector3D< double >	translation
	)

inlinenoexcept

Defines a transformation.

Parameters

[in]	matrix	Row-major 3x3 matrix for e.g. scaling or rotation.
[in]	translation	Computes the translation matrix

Exceptions

Does	not throw any exception.

Member Function Documentation

◆ Det()

double Det ( ) const

inline

Transformation determinant.

Returns: The determinant.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ Identity()

static AffineMatrix3D Identity ( )

inlinestaticnoexcept

The identity element.

Returns: An identity transformation.

Exceptions

Does	not throw any exception.

◆ Invert()

void Invert ( )

inline

Inverts this transformation if possible.

Exceptions

Any	exception derived from std::exception including CvbException.

Might cause division by zero.

◆ IsTranslation()

bool IsTranslation ( ) const

inlinenoexcept

Checks if this transformation describes a translation.

Returns: bool True if this transformation corresponds to a pure translation, false otherwise.

Exceptions

Does	not throw any exception.

◆ Matrix()

Matrix3D Matrix ( ) const

inlinenoexcept

Gets the matrix part of the transformation.

Returns: The matrix.

Exceptions

Does	not throw any exception.

Examples: Foundation/CppMetricCalibration, Foundation/CppMetricCalibrationInclinationLaserPlane, and Foundation/CppMetricCalibrationRigidBodyTrafo.

◆ operator *=() [1/2]

AffineMatrix3D& operator *= ( const AffineMatrix3D & transformation )

inline

Multiplies and assigns to this transformation.

Parameters

[in] transformation Other transformation.

Returns: This transformation.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ operator *=() [2/2]

AffineMatrix3D& operator *= ( const double & value )

inlinenoexcept

Multiplies and assigns to this transformation.

Parameters

[in] value Factor.

Returns: This transformation.

Exceptions

Does	not throw any exception.

◆ operator -=()

AffineMatrix3D& operator -= ( const AffineMatrix3D & transformation )

inlinenoexcept

Subtracts and assigns to this transformation.

Parameters

[in] transformation Other transformation.

Returns: This transformation.

Exceptions

Does	not throw any exception.

◆ operator!=()

bool operator!= ( const AffineMatrix3D & transformation ) const

inlinenoexcept

Compares to an other transformation.

Parameters

[in] transformation Other transformation.

Returns: True if not equal, otherwise false.

Exceptions

Does	not throw any exception.

◆ operator+=()

AffineMatrix3D& operator+= ( const AffineMatrix3D & transformation )

inlinenoexcept

Adds and assigns to this affine matrix.

Parameters

[in] transformation Other transformation.

Returns: This transformation.

Exceptions

Does	not throw any exception.

◆ operator/=()

AffineMatrix3D& operator/= ( const double & value )

inlinenoexcept

Divides each element of this transformation by the given value.

Parameters

[in] value Divisor.

Returns: This transformation.

Exceptions

Does	not throw any exception.

◆ operator==()

bool operator== ( const AffineMatrix3D & transformation ) const

inlinenoexcept

Compares to an other transformation.

Parameters

[in] transformation Other transformation.

Returns: True if equal, otherwise false.

Exceptions

Does	not throw any exception.

◆ SetMatrix()

void SetMatrix ( Matrix3D matrix )

inlinenoexcept

Sets the matrix part of the transformation.

Parameters

[in] matrix The matrix.

Exceptions

Does	not throw any exception.

◆ SetTranslation()

void SetTranslation ( Vector3D< double > translation )

inlinenoexcept

Sets the translation part of the transformation.

Parameters

[in] translation The 3D translation part.

Exceptions

Does	not throw any exception.

◆ Translation()

Vector3D<double> Translation ( ) const

inlinenoexcept

Gets the translation part of the transformation.

Returns: The 3D translation part.

Exceptions

Does	not throw any exception.

Examples: Foundation/CppMetricCalibration, Foundation/CppMetricCalibrationInclinationLaserPlane, and Foundation/CppMetricCalibrationRigidBodyTrafo.

Friends And Related Function Documentation

◆ operator *() [1/3]

AffineMatrix3D operator *	(	const AffineMatrix3D &	lhs,
		const AffineMatrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side transformation.
[in]	rhs	Left hand side transformation.

Returns: The computation result.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ operator *() [2/3]

AffineMatrix3D operator *	(	const AffineMatrix3D &	lhs,
		const double &	rhs
	)

Parameters

[in]	lhs	Right hand side transformation.
[in]	rhs	Left hand side value.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator *() [3/3]

AffineMatrix3D operator *	(	const double &	lhs,
		const AffineMatrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side value.
[in]	rhs	Left hand side transformation.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator+()

AffineMatrix3D operator+	(	const AffineMatrix3D &	lhs,
		const AffineMatrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side transformation.
[in]	rhs	Left hand side transformation.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator-()

AffineMatrix3D operator-	(	const AffineMatrix3D &	lhs,
		const AffineMatrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side affine matrix.
[in]	rhs	Left hand side affine matrix.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator/()

AffineMatrix3D operator/	(	const AffineMatrix3D &	lhs,
		const double &	rhs
	)

Parameters

[in]	lhs	Right hand side transformation.
[in]	rhs	Left hand side value.

Returns: The computation result.

Exceptions

Any	exception derived from std::exception including CvbException.

Public Member Functions

Static Public Member Functions

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ AffineMatrix3D() [1/2]

◆ AffineMatrix3D() [2/2]

Member Function Documentation

◆ Det()

◆ Identity()

◆ Invert()

◆ IsTranslation()

◆ Matrix()

◆ operator *=() [1/2]

◆ operator *=() [2/2]

◆ operator -=()

◆ operator!=()

◆ operator+=()

◆ operator/=()

◆ operator==()

◆ SetMatrix()

◆ SetTranslation()

◆ Translation()

Friends And Related Function Documentation

◆ operator *() [1/3]

◆ operator *() [2/3]

◆ operator *() [3/3]

◆ operator+()

◆ operator-()

◆ operator/()