在pcl中使用矩阵进行点云变换

在自己项目中创建一个cpp文件

复制以下代码：

#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 = Eig