PCL1.8.1 點雲座標變換

經過Eigen的矩陣運算，將點雲進行Z軸旋轉45°，再沿X軸平移2.5.

http://pointclouds.org/documentation/tutorials/matrix_transform.php#matrix-transform

#include <pcl/common/transforms.h>


pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>());

float theta = M_PI / 4; // The angle of rotation in radians

Eigen::Affine3f transform_2 = Eigen::Affine3f::Identity();

// Define a translation of 2.5 meters on the x axis.
transform_2.translation() << 2.5, 0.0, 0.0;

// The same rotation matrix as before; theta radians around Z axis
transform_2.rotate(Eigen::AngleAxisf(theta, Eigen::Vector3f::UnitZ()));

// Print the transformation
printf("\nMethod #2: using an Affine3f\n");
std::cout << transform_2.matrix() << std::endl;
// Executing the transformation



// You can either apply transform_1 or transform_2; they are the same
pcl::transformPointCloud(*source_cloud, *transformed_cloud, transform_2);