PCL点云库动手实践知识点2——原始点云的读取,旋转变换与显示

matrix_transform02.cpp

rosrun snitch_pointcloud matrix_transform ism_test_cat.pcd

程序介绍:
(1)原始点云的读取
(2)分别采用欧拉角和eigen两种旋转变换矩阵方法对点云进行处理
(3) 用pcl::visualization分别显示原始点云与转换后的点云

#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)
{
// 终端打印帮助信息
  // Show help
  if (pcl::console::find_switch (argc, argv, "-h") || pcl::console::find_switch