给定一个点 P = (2, 1), 将该点绕原点先逆时针旋转 45◦,再平移(1, 2) 计算出变换后点的坐标(要求用齐次坐标进行计算)。
#define _USE_MATH_DEFINES
#include<cmath>
#include<Eigen/Eigen>
#include<iostream>
int main() {
Eigen::Vector3f point_1(2.0f,1.0f,1);
Eigen::Matrix3f rotation;
float angle = 45;
float radian = angle * (M_PI / 180);
rotation << cos(radian), -sin(radian), 1,
sin(radian), cos(radian), 2,
0, 0, 1;
Eigen::Vector3f result = rotation * point_1;
std::cout << "平移后的点的坐标为: (" << result.x() << "," << result.y() << ")" << std::endl;
return 0;
}
**运行结果如图:**
![在这里插入图片描述](https://i-blog.csdnimg.cn/direct/688be600fbb64031acca9c247c61b36d.png)