点云处理中,我们有可能需要将点云旋转或者平移到某个位置。pcl提供了相应的函数。假如转移矩阵是[R|T],那么目标点dst和原始点src的关系是:
dst=[R|t]*src.
转移矩阵的格式是
|——-> This column is the translation
| R R R x | \
| R R R y | }-> The identity 3x3 matrix (no rotation) on the left
| R R R z | /
| 0 0 0 1 | -> We do not use this line (and it has to stay 0,0,0,1)
不懂的移步到http://blog.sina.com.cn/s/blog_620bf89501011fl8.html
官方教程
http://pointclouds.org/documentation/tutorials/matrix_transform.php#matrix-transform
代码
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
// This function displays the help
void
showHelp(char * program_name)
{
std::cout << std::endl;
std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
std::cout << "-h: Show this help." << std::endl;
}
// This is the main function
int
main(int argc, char** argv)
{
// Show help
if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
showHelp(argv[0]);
return 0;
}
// Fetch point cloud filename in arguments | Works with PCD and PLY files
std::vector<int> filenames;
bool file_is_pcd = false;
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");
if (filenames.size() != 1) {
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".pcd");
if (filenames.size() != 1) {
showHelp(argv[0]);
return -1;
}
else {
file_is_pcd = true;
}
}
// Load file | Works with PCD and PLY files
pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
if (file_is_pcd) {
if (pcl::io::loadPCDFile(argv[filenames[0]], *source_cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}
else {
if (pcl::io::loadPLYFile(argv[filenames[0]], *source_cloud) < 0) {
std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
showHelp(argv[0]);
return -1;
}
}
/* Reminder: how transformation matrices work :
|-------> This column is the translation
| 1 0 0 x | \
| 0 1 0 y | }-> The identity 3x3 matrix (no rotation) on the left
| 0 0 1 z | /
| 0 0 0 1 | -> We do not use this line (and it has to stay 0,0,0,1)
METHOD #1: Using a Matrix4f
This is the "manual" method, perfect to understand but error prone !
*/
Eigen::Matrix4f transform_1 = Eigen::Matrix4f::Identity();
// Define a rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
float theta = M_PI / 4; // The angle of rotation in radians
transform_1(0, 0) = cos(theta);
transform_1(0, 1) = -sin(theta);
transform_1(1, 0) = sin(theta);
transform_1(1, 1) = cos(theta);
// (row, column)
// Define a translation of 2.5 meters on the x axis.
transform_1(0, 3) = 2.5;
// Print the transformation
printf("Method #1: using a Matrix4f\n");
std::cout << transform_1 << std::endl;
/* METHOD #2: Using a Affine3f
This method is easier and less error prone
*/
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 arround 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
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>());
// You can either apply transform_1 or transform_2; they are the same
pcl::transformPointCloud(*source_cloud, *transformed_cloud, transform_2);
// Visualization
printf("\nPoint cloud colors : white = original point cloud\n"
" red = transformed point cloud\n");
pcl::visualization::PCLVisualizer viewer("Matrix transformation example");
// Define R,G,B colors for the point cloud
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler(source_cloud, 255, 255, 255);
// We add the point cloud to the viewer and pass the color handler
viewer.addPointCloud(source_cloud, source_cloud_color_handler, "original_cloud");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> transformed_cloud_color_handler(transformed_cloud, 230, 20, 20); // Red
viewer.addPointCloud(transformed_cloud, transformed_cloud_color_handler, "transformed_cloud");
viewer.addCoordinateSystem(1.0, "cloud", 0);
viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Setting background to a dark grey
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "transformed_cloud");
//viewer.setPosition(800, 400); // Setting visualiser window position
while (!viewer.wasStopped()) { // Display the visualiser until 'q' key is pressed
viewer.spinOnce();
}
return 0;
}
源代码中用了两种方式构造转移矩阵,一种是直接赋值,另一种用eigen自动生成。
效果如下
点云文件来源请参考上一个博客。运行代码时在工程 属性 配置属性 调试 命令参数中输入点云文件路径(Vs用户)