PCL1.3点云的矩阵变换可视化

参考学习：
http://www.pointclouds.org/documentation/tutorials/matrix_transform.php#matrix-transform
Eigen初学相关介绍:https://blog.csdn.net/yang_q_x/article/details/52383289
逐步分析教程的代码

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

	if (pcl::io::loadPCDFile<pcl::PointXYZ>("sample.pcd", *source_cloud) == -1)
	{
		PCL_ERROR("Couldn't read file sample.pcd \n");
		return (-1);
	}

定义点云指针容器source_cloud，加载PCD文件到source_cloud指向的堆空间。
//PointXYZ是结构体，PointCloud和Ptr是类；
//PointCloud和Ptr转换

pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer(new pcl::PointCloud<pcl::PointXYZ>);

pcl::PointCloud<pcl::PointXYZ> cloud;

cloud = *cloudPointer;

cloudPointer = cloud.makeShared();

	/* 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) = std::cos(theta);
	transform_1(0, 1) = -sin(theta);
	transform_1(1, 0) = sin(theta);
	transform_1(1, 1) = std::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;

Matrix4f 是重定义的类
使用Identity()函数的作用：在定义变量时使用Eigen::Matrix4f x = Eigen::Matrix4f::Identity();即用单位矩阵对x变量进行了初始化。
transform_1 是绕Z轴旋转45度，沿Z轴平移2.5

/*  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 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;

Affine3f 和Matrix4f 同为4*4矩阵，但是Affine3f 本质是个变换矩阵，有成员函数。

// 执行变换，并将结果保存在新创建的‎‎ transformed_cloud ‎‎中
  pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
  // 可以使用 transform_1 或 transform_2; t它们是一样的
  pcl::transformPointCloud (*source_cloud, *transformed_cloud, transform_2);
  
	// Visualization
	printf("\nPoint cloud colors :  white  = original point cloud\n"
		"                        red  = transformed point cloud\n");
   //创建可视化窗口，名字：Matrix transformation example
	pcl::visualization::PCLVisualizer viewer("Matrix transformation example");

	// a specific PointCloud visualizer handler for colors
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler(source_cloud, 255, 255, 255);

	// Add a Point Cloud (templated) to screen.使用 visualizer handler for colors
	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");


	//Adds 3D axes describing a coordinate system to screen at 0,0,0.//
	viewer.addCoordinateSystem(1.0, "cloud", 0);
	//添加背景颜色
	viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Setting background to a dark grey
	//设置点云渲染属性
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud");
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "transformed_cloud");
	//viewer.setPosition(400, 400); // Setting visualiser window position

	while (!viewer.wasStopped()) { // 按q函数返回0，关闭窗口。否则返回1
		viewer.spinOnce();//延时时间默认为1ms	spinOnce(int time = 1,bool force_redraw = false)
	}

	return 0;
}