测试PCL中Eigen的旋转矩阵作用方式（intrinsic rotation）

#include <vtkAutoInit.h>         
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);

#include <string>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/vtk_lib_io.h>		  
#include <vector>
#include <pcl/visualization/pcl_visualizer.h>
#include <string>
#include <Eigen/Core>
#include <pcl/common/transforms.h>

using namespace std;

bool next_step = false;
int a = 0;

void SpaceKeyOccurred(const pcl::visualization::KeyboardEvent &key, void *nothing)
{
	if (key.getKeySym() == "space" && key.keyDown())
	{
		next_step = true;
	}
}

int main()
{
pcl::visualization::PCLVisualizer viewer;
	Eigen::Vector3f vectorb(10, 0, 0);
	float theta = M_PI / 6;
	Eigen::Matrix3f a_matrix = Eigen::Matrix3f::Identity(); //绕Z转
	a_matrix << cos(theta)  ,  sin(theta)     ,  0		   ,
		       -sin(theta)  ,  cos(theta)     ,  0		   ,
		        0           ,  0              ,  1		   ;

	Eigen::Matrix3f b_matrix = Eigen::Matrix3f::Identity();  //绕Y转
	b_matrix<< cos(theta)   ,  0              , -sin(theta),
	           0            ,  1			  , 0          ,
	           sin(theta)   ,  0			  , cos(theta) ;

	Eigen::Matrix3f c_matrix = Eigen::Matrix3f::Identity();   //绕X转
	c_matrix << 1			, 0				  , 0		   ,
	        	0			, cos(theta)	  , sin(theta) ,
		        0			, -sin(theta)	  , cos(theta) ;

	Eigen::Quaternionf bboxQuaternion(a_matrix);
	viewer.addCube(vectorb,bboxQuaternion, 10, 10, 10,"bbox1");
	viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "bbox1");
	viewer.addCoordinateSystem(10.0);
	viewer.setBackgroundColor(1.0,1.0,1.0);
	viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, "bbox1");
	viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "bbox1");

	viewer.registerKeyboardCallback(&SpaceKeyOccurred, (void*)NULL);   //注册键盘回掉函数
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
		if (next_step && a<2)
		{
			Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
			if (a==0)
			{
				Eigen::Quaternionf bboxQuaternion2(b_matrix*a_matrix);
				viewer.addCube(vectorb, bboxQuaternion2, 10, 10, 10, "bbox2");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "bbox2");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, "bbox2");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0.0, 1.0, 0.0, "bbox2");
			}
			else if (a==1)
			{
				Eigen::Quaternionf bboxQuaternion2(c_matrix*b_matrix*a_matrix);
				viewer.addCube(vectorb, bboxQuaternion2, 10, 10, 10, "bbox3");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "bbox3");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, "bbox3");
				viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0.0, 0.0, 1.0, "bbox3");
			}

			next_step = false;
			a++;
		}

	}

	return 0;
	}

先绕Z轴旋转

再绕Y轴旋转

再绕X轴旋转