点云的刚性变换[微记]

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); 
    pcl::PCDReader reader; 
    if (pcl::io::loadPCDFile("D:\\desktop_tempfile\\pcd\\apple_0.pcd", *cloud)) 
    {  
        PCL_ERROR ("Couldn't read file pcd \n");  
        return (false);  
    } 
    Eigen::Matrix4f transform = Eigen::Matrix4f::Identity(); //4×4变换矩阵
    float theta = M_PI; //绕x轴旋转180°，平移1.0
    transform (1,1) = cos (theta);
    transform (1,2) = -sin(theta);
    transform (2,1) = sin (theta);
    transform (2,2) = cos (theta);
    transform (0,3) = 1.0;
    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
    pcl::transformPointCloud (*cloud, *transformed_cloud, transform);//刚性变换的核心函数
    pcl::visualization::PCLVisualizer viewer ("Matrix transformation example");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler (cloud, 255, 255, 255);
    viewer.addPointCloud (cloud, source_cloud_color_handler, "original_cloud");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> transformed_cloud_color_handler (transformed_cloud, 230, 0, 0); 
    viewer.addPointCloud (transformed_cloud, transformed_cloud_color_handler, "transformed_cloud");
    viewer.addCoordinateSystem (1.0, 0);  
    viewer.setBackgroundColor(0.1, 0.1, 0.1, 0); 
    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud");
    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "transformed_cloud");
    while (!viewer.wasStopped ()) { 
        viewer.spinOnce ();
    }