日常笔记-4 仿射变换矩阵

Eigen::Affine3f transBt

1、旋转和平移
transBt=pcl::getTransformation(0.0, 0.0, 0.0, 0.0, 0.0,0.0);
2、单点的转换（齐次矩阵）
newPoint.x = transBt(0,0) * point->x + transBt(0,1) * point->y + transBt(0,2) * point->z + transBt(0,3);
newPoint.y = transBt(1,0) * point->x + transBt(1,1) * point->y + transBt(1,2) * point->z + transBt(1,3);
newPoint.z = transBt(2,0) * point->x + transBt(2,1) * point->y + transBt(2,2) * point->z + transBt(2,3);