java代码实现室内空间三维坐标与世界三维坐标的关联与转换

以下是一个示例的 Java 代码，使用 WiFi 定位技术获取设备在室内的位置，并将其转化为世界坐标系中的位置：

import org.apache.commons.math3.linear.*;

public class IndoorToWorld {
    
    public static double[] getIndoorPosition() {
        // 使用 WiFi 定位技术获取设备在室内的位置
        double[] indoorPosition = {1.0, 2.0, 3.0};
        return indoorPosition;
    }
    
    public static RealMatrix getTransformationMatrix() {
        // 获取室内空间三维坐标系与世界坐标系之间的转换矩阵
        double[][] matrixData = {{1.0, 0.0, 0.0, 10.0},
                                 {0.0, 1.0, 0.0, 20.0},
                                 {0.0, 0.0, 1.0, 30.0},
                                 {0.0, 0.0, 0.0, 1.0}};
        RealMatrix transformationMatrix = MatrixUtils.createRealMatrix(matrixData);
        return transformationMatrix;
    }
    
    public static void main(String[] args) {
        double[] indoorPosition = getIndoorPosition();
        double indoorX = indoorPosition[0];
        double indoorY = indoorPosition[1];
        double indoorZ = indoorPosition[2];
        
        RealMatrix transformationMatrix = getTransformationMatrix();
        
        double[] indoorPositionHomogeneous = {indoorX, indoorY, indoorZ, 1.0};
        RealMatrix indoorPositionHomogeneousMatrix = MatrixUtils.createColumnRealMatrix(indoorPositionHomogeneous);
        RealMatrix worldPositionHomogeneousMatrix = transformationMatrix.multiply(indoorPositionHomogeneousMatrix);
        double[] worldPositionHomogeneous = worldPositionHomogeneousMatrix.getColumn(0);
        double worldX = worldPositionHomogeneous[0] / worldPositionHomogeneous[3];
        double worldY = worldPositionHomogeneous[1] / worldPositionHomogeneous[3];
        double worldZ = worldPositionHomogeneous[2] / worldPositionHomogeneous[3];
        
        System.out.println("Indoor position: (" + indoorX + ", " + indoorY + ", " + indoorZ + ")");
        System.out.println("World position: (" + worldX + ", " + worldY + ", " + worldZ + ")");
    }
}

在上述代码中，`getIndoorPosition()` 函数用于获取设备在室内的位置，`getTransformationMatrix()` 函数用于获取室内空间三维坐标系与世界坐标系之间的转换矩阵。`indoorX`, `indoorY`, `indoorZ` 分别表示设备在室内空间三维坐标系中的 x、y、z 坐标，`worldX`, `worldY`, `worldZ` 分别表示设备在世界坐标系中的 x、y、z 坐标。