点云旋转矩阵作业求助-填写第二、第三部分代码，第一部分代码，老师已经给出答案

最新推荐文章于 2024-02-14 20:09:30 发布

qq_25286153

最新推荐文章于 2024-02-14 20:09:30 发布

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文章标签：矩阵 c++ 算法

本文链接：https://blog.csdn.net/qq_25286153/article/details/129537891

版权

#include "PointCloudOpt.h"

pcl::PointCloud<pcl::PointXYZ> PointCloudOpt::pointCloudTranslation(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput)
{
pcl::PointCloud<pcl::PointXYZ> pointcloudoutput;

/*
* please finish this program to implement 3D points translation.
* input: pointcloudinput
* output: pointcloudoutput
* description: calculate pointcloudoutput by adding translation vector to pointcloudoutput
*/pointcloudoutput.resize(pointcloudinput.size());
   for(int i=0;i<pointcloudinput.size();++i)
       {
           pointcloudoutput.at(i).x=pointcloudinput.at(i).x+0.17;
           pointcloudoutput.at(i).y=pointcloudinput.at(i).y+0.17;
           pointcloudoutput.at(i).z=pointcloudinput.at(i).z+0.17;
       }





return pointcloudoutput;
}

pcl::PointCloud<pcl::PointXYZ> PointCloudOpt::pointCloudRot(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput)
{
pcl::PointCloud<pcl::PointXYZ> pointcloudoutput;

/*
* please finish this program to implement 3D points rotation.
* input: pointcloudinput
* output: pointcloudoutput
* description: calculate pointcloudoutput by multipling rotation matrix to pointcloudoutput
*/



return pointcloudoutput;
}

pcl::PointCloud<pcl::PointXYZ> PointCloudOpt::pointCloudTransformation(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput)
{
pcl::PointCloud<pcl::PointXYZ> pointcloudoutput;

/*
* please finish this program to implement 3D points Transformation.
* input: pointcloudinput
* output: pointcloudoutput
* description: calculate pointcloudoutput by multipling Transformation matrix to pointcloudoutput
*/





return pointcloudoutput;
}

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第一部分代码运行如下

"PointCloudOpt.h"文件如下

---------------------------------------------------------------------------------------------------------------------------------

#include <iostream>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/ply_io.h>
#include <cv.h>
#include <highgui.h>
using namespace std;

class PointCloudOpt
{
public:
cv::Mat RaboutX(const double& theta);//rotation about X axis
cv::Mat RaboutY(const double& theta);//rotation about Y axis
cv::Mat RaboutZ(const double& theta);//rotation about Z axis
pcl::PointCloud<pcl::PointXYZ> pointCloudTranslation(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput);
pcl::PointCloud<pcl::PointXYZ> pointCloudRot(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput);
pcl::PointCloud<pcl::PointXYZ> pointCloudTransformation(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput);
pcl::PointCloud<pcl::PointXYZ> linkageTransformation(const pcl::PointCloud<pcl::PointXYZ>& pointcloudinput);
};

inline
cv::Mat PointCloudOpt::RaboutX(const double& theta)
{
   cv::Mat raboutx = (cv::Mat_<double>(3,3) << 1, 0, 0,
       0,cos(theta),-sin(theta),
       0,sin(theta),cos(theta));
   return raboutx;
}

inline
cv::Mat PointCloudOpt::RaboutY(const double& theta)
{
   cv::Mat rabouty = (cv::Mat_<double>(3,3) << cos(theta), 0, sin(theta),
       0, 1, 0,
       -sin(theta),0, cos(theta));

return rabouty;
}

inline
cv::Mat PointCloudOpt::RaboutZ(const double& theta)
{
   cv::Mat raboutz = (cv::Mat_<double>(3,3) << cos(theta),-sin(theta),0,
       sin(theta), cos(theta),0,
       0, 0, 1);

return raboutz;
}