#include 
     
      #include 
      
       #include 
       
        #include 
        
         #include 
         
          #include 
          
           #include 
           
            // 命令行的帮助提示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;}int main (int argc, char** argv){ if (pcl::console::find_switch (argc, argv, "-h") || pcl::console::find_switch (argc, argv, "--help")) { showHelp (argv[0]); return 0; } // 读取文件 std::vector
            
              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; } } //载入文件 pcl::PointCloud
             
              ::Ptr source_cloud (new pcl::PointCloud
              
                ()); 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 定义旋转的角度 再有角度计算出旋转矩阵 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;//意思就是在第一行第四个元素的值为2.5，也就是在x轴的平移为2.5 // Print the transformation 打印出这个变换矩阵 printf ("Method #1: using a Matrix4f\n"); std::cout << transform_1 << std::endl; /* METHOD #2: Using a Affine3f 第二种方案 This method is easier and less error prone 更简单的方案 */ 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
               
                ::Ptr transformed_cloud (new pcl::PointCloud
                
                  ()); // 你可以使用 transform_1 或者 transform_2;效果都是一样的 pcl::transformPointCloud (*source_cloud, *transformed_cloud, transform_2); // 可视化的 printf( "\nPoint cloud colors : white = original point cloud\n" " red = transformed point cloud\n"); pcl::visualization::PCLVisualizer viewer ("Matrix transformation example"); // 为点云设置RGB的值 pcl::visualization::PointCloudColorHandlerCustom
                 
                   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
                  
                    transformed_cloud_color_handler (transformed_cloud, 230, 20, 20); // Red viewer.addPointCloud (transformed_cloud, transformed_cloud_color_handler, "transformed_cloud"); viewer.addCoordinateSystem (1.0, 0); viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); //设置背景颜色 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;}
                  
                 
                
               
              
             
            
           
          
         
        
       
      
     

#include 
     
      #include 
      
       #include 
       
        #include 
        
         int main(int argc,char** argv){if(argc !=3) {  std::cout <<"\tUsage: "<
         
          <<"
           
          
" <
           
            ::Ptr cloud(new pcl::PointCloud
            
             );//read a PCDfile from diskif(pcl::io::loadPCDFile
             
              (argv[1],*cloud) !=0){ return -1;}//the mapping tells you to that points of the oldcloud the new ones correspond//but we will not use itstd::vector
              
                mapping;pcl::removeNaNFromPointCloud(*cloud, *cloud, mapping);//pcl::removeNaNFromPointCloud(*cloud, *cloud, mapping);//save it backpcl::io::savePCDFileASCII(argv[2],*cloud);pcl::visualization::CloudViewer viewer(argv[2]); viewer.showCloud(cloud); while (!viewer.wasStopped()) { // Do nothing but wait. }}