点云变换文档说明

文档说明：

该函数可以实现点云的变换（包括平移变换和旋转变换）

具体操作如下：

1.需要传入的文件类型是.pcd或者.ply的文件

2.在命令行窗口运行：

需要在命令行窗口输入6个参数：前3个参数是平移参数，后三个参数是旋转参数：

{ 参数1：沿x轴平移} {参数2：沿y轴平移} { 参数3：沿z轴平移}

{ 参数4：绕x轴旋转} { 参数5： 绕y轴旋转} {参数6：绕z轴旋转}

该图就是绕x轴旋转0度，绕y轴旋转45度，绕z轴旋转45度；然后沿着x轴平移20个单位，沿着y轴平移20个单位，沿着z轴平移0个单位；

该图就是按照上述参数变换后的的展示。

#代码如图所示

#include <iostream>

// TODO: 在此处引用程序需要的其他标头。
#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>
#include<stdlib.h>
using namespace pcl;

// This is the main function
int main(int argc,char**argv)
{
	float a, b, c, d, e, f;
	a = atoi(argv[1]);
	b = atoi(argv[2]);
	c = atoi(argv[3]);
	d = atoi(argv[4]);
	e = atoi(argv[5]);
	f = atoi(argv[6]);
		
	// Load file | Works with PCD and PLY files
	PointCloud<PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
	char strfilepath[256] = "E:\\PCL\\my_pcl\\x64\\Debug\\rabbit.pcd";
	pcl::io::loadPCDFile(strfilepath, *source_cloud);
	

	// Define a rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
	float theta = (M_PI / 180)*d; // The angle of rotation in radians
	float bata = (M_PI / 180)*e; // The angle of rotation in radians
	float gama = (M_PI / 180)*f; // The angle of rotation in radians
	

	/*  METHOD #2: Using a Affine3f
	  This method is easier and less error prone
	*/
	Eigen::Affine3d transform_2 = Eigen::Affine3d::Identity();

	// Define a translation of 2.5 meters on the x axis.
	

	

	//从后往前旋转，先绕着X轴逆时针theta, 再绕着Y逆时针bata，再绕着X逆时针gamma
//Eigen::Vector3d(1,0,0)和Eigen::Vector3d::UnitX()一样
	transform_2 = Eigen::AngleAxisd(gama, Eigen::Vector3d(0, 0, 1)) * 
		Eigen::AngleAxisd(bata, Eigen::Vector3d::UnitY()) * 
		Eigen::AngleAxisd(theta, Eigen::Vector3d::UnitX());
	transform_2.translation() << a, b, c;
	// Print the transformation
	printf("\nMethod : using an Affine3d\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, 200); // Setting visualiser window position
	while (!viewer.wasStopped()) { // Display the visualiser until 'q' key is pressed
		viewer.spinOnce();

	}

	return 0;
}