pcl 学习2 利用矩阵转移一个点云

点云处理中，我们有可能需要将点云旋转或者平移到某个位置。pcl提供了相应的函数。假如转移矩阵是[R|T],那么目标点dst和原始点src的关系是：
dst=[R|t]*src.
转移矩阵的格式是
|——-> This column is the translation
| R R R x | \
| R R R y | }-> The identity 3x3 matrix (no rotation) on the left
| R R R z | /
| 0 0 0 1 | -> We do not use this line (and it has to stay 0,0,0,1)
不懂的移步到http://blog.sina.com.cn/s/blog_620bf89501011fl8.html
官方教程
http://pointclouds.org/documentation/tutorials/matrix_transform.php#matrix-transform
代码

#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)
{

    // Show help
    if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
        showHelp(argv[0]);
        return 0;
    }

    // Fetch point cloud filename in arguments | Works with PCD and PLY files
    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 :

    |-------> This column is the translation
    | 1 0 0 x |  \
    | 0 1 0 y |   }-> The identity 3x3 matrix (no rotation) on the left
    | 0 0 1 z |  /
    | 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 / 4; // The angle of rotation in radians
    transform_1(0, 0) = cos(theta);
    transform_1(0, 1) = -sin(theta);
    transform_1(1, 0) = sin(theta);
    transform_1(1, 1) = 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() << 2.5, 0.0, 0.0;

    // The same rotation matrix as before; theta radians arround 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;
}

源代码中用了两种方式构造转移矩阵，一种是直接赋值，另一种用eigen自动生成。
效果如下

点云文件来源请参考上一个博客。运行代码时在工程 属性 配置属性 调试 命令参数中输入点云文件路径（Vs用户）