Package science.aist.imaging.api.domain.threedimensional

Class JavaPointCloud3D

java.lang.Object

science.aist.imaging.api.domain.AbstractJavaPointCloud<JavaPoint3D>

science.aist.imaging.api.domain.threedimensional.JavaPointCloud3D

public class JavaPointCloud3D
extends AbstractJavaPointCloud<JavaPoint3D>

3D point cloud

Since:

1.0

Author:

Christoph Praschl

Constructor Summary

Constructors

Constructor	Description
JavaPointCloud3D(@NonNull List<JavaPoint3D> points)

Method Summary

Modifier and Type	Method	Description
JavaPointCloud3D	add(JavaPoint3D vector)	Adds the given JavaPoint to the point cloud.
protected JavaPoint3D	calculateCenterPoint()
protected <L extends AbstractJavaPointCloud<JavaPoint3D>> L	createPointCloud(List<JavaPoint3D> point3DS)
JavaPointCloud3D	div(double scalar)	Divides the point cloud by the given scalar.
JavaPointCloud3D	mult(JavaPoint3D vector)	Multiplies the point cloud with the given scalar.
JavaPointCloud3D	rotate(JavaPoint3D origin, double roll, double pitch, double yaw)	Rotates the point cloud around the given origin
JavaPointCloud3D	rotateAroundCenter(double roll, double pitch, double yaw)	Rotates the point cloud around the center point.
JavaPointCloud3D	scale(JavaPoint3D scaleFactors)	Scales the given JavaPointCloud around the center point
JavaPointCloud3D	scale(JavaPoint3D scaleFactors, JavaPoint3D scaleCenter)	Scales the given JavaPointCloud around the given scale center point
JavaPointCloud3D	sub(JavaPoint3D vector)	Subtracts the given JavaPoint from the point cloud.

Methods inherited from class science.aist.imaging.api.domain.AbstractJavaPointCloud

equals, hashCode, toString, transformParallel

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

JavaPointCloud3D

public JavaPointCloud3D(@NonNull
                        @NonNull List<JavaPoint3D> points)

Method Detail

sub

public JavaPointCloud3D sub(JavaPoint3D vector)

Subtracts the given JavaPoint from the point cloud.

Specified by:

sub in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

vector - The JavaPoint to be subtracted from the point cloud

Returns:

A new instance holding the result of the subtraction

add

public JavaPointCloud3D add(JavaPoint3D vector)

Adds the given JavaPoint to the point cloud.

Specified by:

add in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

vector - The JavaPoint to be added to the point cloud

Returns:

A new instance holding the result of the addition

mult

public JavaPointCloud3D mult(JavaPoint3D vector)

Multiplies the point cloud with the given scalar.

Specified by:

mult in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

vector - The multiplied vector

Returns:

A new instance holding the result of the multiplication

div

public JavaPointCloud3D div(double scalar)

Divides the point cloud by the given scalar.

Specified by:

div in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

scalar - The scalar used for the division of the point cloud

Returns:

A new instance holding the result of the division

rotateAroundCenter

public JavaPointCloud3D rotateAroundCenter(double roll,
                                           double pitch,
                                           double yaw)

Rotates the point cloud around the center point.

Parameters:

roll - Rotation around x-axis (in degrees)

pitch - Rotation around y-axis (in degrees)

yaw - Rotation around z-axis (in degrees)

Returns:

Returns a new, rotated instance

rotate

public JavaPointCloud3D rotate(JavaPoint3D origin,
                               double roll,
                               double pitch,
                               double yaw)

Rotates the point cloud around the given origin

Parameters:

origin - origin point around which will be rotated.

roll - Rotation around x-axis (in degrees)

pitch - Rotation around y-axis (in degrees)

yaw - Rotation around z-axis (in degrees)

Returns:

Returns a new, rotated instance

scale

public JavaPointCloud3D scale(JavaPoint3D scaleFactors)

Scales the given JavaPointCloud around the center point

Specified by:

scale in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

scaleFactors - vector containing the scale values

Returns:

new scaled instance

scale

public JavaPointCloud3D scale(JavaPoint3D scaleFactors,
                              JavaPoint3D scaleCenter)

Scales the given JavaPointCloud around the given scale center point

Specified by:

scale in class AbstractJavaPointCloud<JavaPoint3D>

Parameters:

scaleFactors - vector containing the scale values

scaleCenter - the scaleCenter

Returns:

new scaled instance

calculateCenterPoint

protected JavaPoint3D calculateCenterPoint()

Specified by:

calculateCenterPoint in class AbstractJavaPointCloud<JavaPoint3D>

createPointCloud

protected <L extends AbstractJavaPointCloud<JavaPoint3D>> L createPointCloud(List<JavaPoint3D> point3DS)

Specified by:

createPointCloud in class AbstractJavaPointCloud<JavaPoint3D>