pcl读取pcd文件或者ply文件并进行矩阵变换

创建test_pcl.cpp文件，复制以下内容到文件

#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 or --help:  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")) {
        std::cout << std::endl;
        std::cout << "还没写help" << std::endl;
        std::cout << std::endl;
        return 0;
    }

    // Fetch point cloud filename in arguments | Works with PCD and PLY files
    // 在参数中获取点云文件名，与PCD和PLY文件一起使用。
    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 :变换矩阵如何工作

      |----------> This column is the translation
      | 1 0 0 x |  \
      | 0 1 0 y |   }-> The identity 3x3 matrix (no rotation无旋转) on the left
      | 0 0 1 z |  /    特征3x3矩阵
      | 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/2; // 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;

    /*  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() << 0.0, 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;

    // Executing the transformation
    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());

    // You can either apply transform_1 or transform_2; they are the same
    pcl::transformPointCloud (*source_cloud, *transformed_cloud, transform_2);

    // Visualization
    printf(  "\nPoint cloud colors :  white  = original point cloud\n"
             "                        red  = transformed point cloud\n");
    pcl::visualization::PCLVisualizer viewer ("Matrix transformation example");

    // Define R,G,B colors for the point cloud
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler (source_cloud, 255, 255, 255);
    // We add the point cloud to the viewer and pass the color handler
    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");

    viewer.addCoordinateSystem (1.0, "cloud", 0);
    viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Setting background to a dark grey
    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud");
    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "transformed_cloud");
    //viewer.setPosition(800, 400); // Setting visualiser window position

    while (!viewer.wasStopped ()) { // Display the visualiser until 'q' key is pressed
        viewer.spinOnce ();
    }

    return 0;
}

创建CMakeLists.txt文件复制以下内容

cmake_minimum_required(VERSION 2.6)
project(test_pcl)
 
find_package(PCL 1.2 REQUIRED)
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(test_pcl test_pcl.cpp)
 
target_link_libraries (test_pcl ${PCL_LIBRARIES})


#install(TARGETS test_pcl RUNTIME DESTINATION bin)

运行

./test_pcl ../***.ply