转换点云

最新推荐文章于 2024-04-14 19:13:17 发布

原创最新推荐文章于 2024-04-14 19:13:17 发布 · 434 阅读

1 ·

CC 4.0 BY-SA版权

PCL 专栏收录该内容

9 篇文章

订阅专栏

本文介绍了一种使用PCL库进行点云数据转换的方法，包括读取点云数据、定义旋转和平移矩阵、应用仿射变换以及保存转换后的点云。通过具体的C++代码示例，展示了如何实现点云的旋转和平移。

转换点云

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/common/transforms.h>                  //allows us to use pcl::transformPointCloud function
#include <pcl/visualization/pcl_visualizer.h>




int main (int argc, char** argv)
{

   
    pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud (new pcl::PointCloud<pcl::PointXYZ> ());


    
    if (pcl::io::loadPCDFile<pcl::PointXYZ> ("Marketplace_downsampled.pcd", *source_cloud) == -1) 
    {
        PCL_ERROR ("Couldn't read file sample.pcd \n");
        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)
    // Here we defined a 45° (PI/4) rotation around the Z axis and a translation on the X axis.
    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;



    // Executing the transformation
    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
    /*
    void pcl::transformPointCloud(const pcl::PointCloud< PointT > & cloud_in, 
                                    pcl::PointCloud< PointT > &  cloud_out,  
                                    const Eigen::Matrix4f &  transform  ) 
    */
    // Apply an affine transform defined by an Eigen Transform.
    pcl::transformPointCloud (*source_cloud, *transformed_cloud, transform_1);

    //其实这个打开和保存的方式可以用pcl::PCDReader 和pcl::PCDWritwer

    
    pcl::io::savePCDFileASCII ("Marketplace_downsampled_transformed.pcd", *transformed_cloud);

  return 0;
}

然后再写cmakelist文件

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(transform_cloud)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (transform_cloud transform_cloud.cpp)
target_link_libraries (transform_cloud ${PCL_LIBRARIES})