PCL 旋转平移矩阵左乘每个点

pcl自带的每个点乘以矩阵是右乘，

pcl::transformPointCloud(*source_cloud, *target_cloud, transform)：

这里实现左乘

	pcl::PointCloud<pcl::PointXYZRGB>  xxx;
	xxx.width = cloud_source->points.size();
	xxx.height = 1;
	xxx.is_dense = false;
	xxx.points.resize(xxx.width * xxx.height);
	/*xxx.points.size() = cloud_source->points.size();*/
	for (int i = 0; i < cloud_source->points.size(); i++)
	{
		Eigen::Matrix4f cloud111,cloud222;

		cloud111 << 1, 0, 0, cloud_source->points[i].x,
					0, 1, 0, cloud_source->points[i].y,
					0, 0, 1, cloud_source->points[i].z,
					0, 0, 0, 1;

		cloud222 = b2t * tras*cloud111;

		xxx.points[i].x = cloud222(0,3);
		xxx.points[i].y = cloud222(1,3);
		xxx.points[i].z = cloud222(2,3);
		//cout << i << endl;
	}

	//pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	transformed_cloud = xxx.makeShared();