I want to code the transformation of coordinates given in a local right-handed 3D-Cartesian coordinate system to 3D-geographic-coordinates using geotools:gt-referencing.
I have the location and orientation of a sensor in a local, right-handed coordinate system (of a mobile platform). I know the translation and rotation of the local coordinate system relative to WGS84. Mathematically the operation is rather trival as it can be solved by an Helmert-Tranformation. The [geotools-userguide](http://docs.geotools.org/latest/userguide/library/referencing/crs.html) mentions a Class `DefaultEngineeringCRS` which seems like a good fit for my local coordinate system. Unfortunately I did not find any example code for the usage of this class and how to define its origin and orientation. I would like to do something like this ```java CoordinateReferenceSystem worldFrame = DefaultGeographicCRS.WGS84_3D; CoordinateReferenceSystem bodyFrame = DefaultEngineeringCRS.CARTESIAN_3D; /* set transformation rules for how to transform coordinates given in bodyFrame to coordinates in worldFrame */ DirectPosition locationOfSensor = DirectPosition3D(bodyFrame, x, y, z); MathTransform trafo = CRS.findMathTransform(worldFrame, bodyFrame, true); trafo.transform(locationOfSensor, locationOfSensor); ``` The information in this e-mail is confidential. The contents may not be disclosed or used by anyone other than the addressee. Access to this e-mail by anyone else is unauthorised. If you are not the intended recipient, please notify Airbus immediately and delete this e-mail. Airbus cannot accept any responsibility for the accuracy or completeness of this e-mail as it has been sent over public networks. If you have any concerns over the content of this message or its Accuracy or Integrity, please contact Airbus immediately. All outgoing e-mails from Airbus are checked using regularly updated virus scanning software but you should take whatever measures you deem to be appropriate to ensure that this message and any attachments are virus free.
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