资源简介
点云匹配代码,计算点云的旋转矩阵,平移矩阵,匹配精度高.
代码片段和文件信息
/***************************************************************************
Copyright: Huang Xiaohang / Piec
Author: Huang Xiaohang
Date: 2017-12-06
Description: Implementation of the classes and functions used in the project
****************************************************************************/
#include “PointCloudToolbox.h“
/// Implementation of Class PIPointCloud ///
PIPointCloud::PIPointCloud() : cloud(new PointCloudT){}
void PIPointCloud::printTransformationMatrix ()
{
printf (“Transformation information:\n“);
printf (“Rotation matrix :\n“);
printf (“ | %6.3f %6.3f %6.3f | \n“ transform_matrix (0 0) transform_matrix (0 1) transform_matrix (0 2));
printf (“R = | %6.3f %6.3f %6.3f | \n“ transform_matrix (1 0) transform_matrix (1 1) transform_matrix (1 2));
printf (“ | %6.3f %6.3f %6.3f | \n“ transform_matrix (2 0) transform_matrix (2 1) transform_matrix (2 2));
printf (“Translation vector :\n“);
printf (“t = < %6.3f %6.3f %6.3f >\n\n“ transform_matrix (0 3) transform_matrix (1 3) transform_matrix (2 3));
}
void PIPointCloud::pointCloudRotate(Eigen::Matrix3f rotate_matrix)
{
Eigen::Matrix4f matrix = Eigen::Matrix4f::Identity();
matrix (0 0) = rotate_matrix (0 0);
matrix (0 1) = rotate_matrix (0 1);
matrix (0 2) = rotate_matrix (0 2);
matrix (1 0) = rotate_matrix (1 0);
matrix (1 1) = rotate_matrix (1 1);
matrix (1 2) = rotate_matrix (1 2);
matrix (2 0) = rotate_matrix (2 0);
matrix (2 1) = rotate_matrix (2 1);
matrix (2 2) = rotate_matrix (2 2);
pcl::transformPointCloud (*cloud *cloud matrix);
}
void PIPointCloud::pointCloudTranslate(Eigen::Vector3f translate_matrix)
{
Eigen::Matrix4f matrix = Eigen::Matrix4f::Identity();
matrix (0 3) = translate_matrix (0 0);
matrix (1 3) = translate_matrix (0 1);
matrix (2 3) = translate_matrix (0 2);
pcl::transformPointCloud (*cloud *cloud matrix);
}
Eigen::Matrix4f PIPointCloud::pointCloudRotateX(float theta)
{
Eigen::Matrix4f matrix = Eigen::Matrix4f::Identity();
matrix (1 1) = cos (theta * M_PI / 180);
matrix (1 2) = -sin (theta * M_PI / 180);
matrix (2 1) = sin (theta * M_PI / 180);
matrix (2 2) = cos (theta * M_PI / 180);
pcl::transformPointCloud (*cloud *cloud matrix);
return matrix;
}
Eigen::Matrix4f PIPointCloud::pointCloudRotateY(float theta)
{
Eigen::Matrix4f matrix = Eigen::Matrix4f::Identity();
matrix (0 0) = cos (theta * M_PI / 180);
matrix (0 2) = sin (theta * M_PI / 180);
matrix (2 0) = -sin (theta * M_PI / 180);
matrix (2 2) = cos (theta * M_PI / 180);
pcl::transformPointCloud (*cloud *cloud matrix);
return matrix;
}
Eigen::Matrix4f PIPointCloud::pointCloudRotateZ(float theta)
{
Eigen::Matrix4f matrix = Eigen::Matrix4f::Identity();
matrix (0 0) = cos (theta * M_PI / 180);
matrix (0 1) = -sin (theta * M_PI / 180);
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2017-12-19 09:06 PointCloudPoseEstimation-master\
文件 692 2017-12-19 09:06 PointCloudPoseEstimation-master\CMakeLists.txt
目录 0 2017-12-19 09:06 PointCloudPoseEstimation-master\data\
文件 243 2017-12-19 09:06 PointCloudPoseEstimation-master\data\Cam21RotationMatrix.xm
文件 208 2017-12-19 09:06 PointCloudPoseEstimation-master\data\Cam21TranslationMatrix.xm
文件 243 2017-12-19 09:06 PointCloudPoseEstimation-master\data\Cam31RotationMatrix.xm
文件 208 2017-12-19 09:06 PointCloudPoseEstimation-master\data\Cam31TranslationMatrix.xm
文件 951011 2017-12-19 09:06 PointCloudPoseEstimation-master\data\fraction1.pcd
文件 984488 2017-12-19 09:06 PointCloudPoseEstimation-master\data\fraction2.pcd
文件 942094 2017-12-19 09:06 PointCloudPoseEstimation-master\data\fraction3.pcd
文件 840962 2017-12-19 09:06 PointCloudPoseEstimation-master\data\model.pcd
目录 0 2017-12-19 09:06 PointCloudPoseEstimation-master\include\
文件 1440 2017-12-19 09:06 PointCloudPoseEstimation-master\include\PointCloudPoseEstimation.h
文件 16339 2017-12-19 09:06 PointCloudPoseEstimation-master\include\PointCloudToolbox.cpp
文件 27335 2017-12-19 09:06 PointCloudPoseEstimation-master\include\PointCloudToolbox.h
目录 0 2017-12-19 09:06 PointCloudPoseEstimation-master\src\
文件 3790 2017-12-19 09:06 PointCloudPoseEstimation-master\src\PointCloudPoseEstimation.cpp
- 上一篇:ATJ227X 数据手册全
- 下一篇:2019MCM_D_论文M奖
相关资源
- 2-D and 3-D Image registration 图像配准
- PointVisulization.rar
- Spring Cloud Finchley.RELEASE 中文 参考手册
- CCSP Certified Cloud Security
- 点云数据,包括原始数据以及从中提
- 金蝶云 K3_Cloud实施初始化 七个步骤
- k3cloud初始化上线七个步骤 第三步
- 金蝶云k3cloud初始化上线七个步骤 第
- 金蝶云k3cloud初始化上线七个步骤 第
- Pointnet++中文翻译word版
- k3cloud初始化上线七个步骤 第四步 多
- cachecloud-bin-1.2.tar.gz 二进制一键安装
- Symantec_Endpoint_Protection_12.1.6_MP4_Win64-
- McAfeeEndpointProductRemoval_20.4.0.33.exe
- SpringCloud第二季周阳老师脑图和代码
- System Center 2016 Endpoint Protection
- MonoCloud_V1.0.7.zip
- CloudCompare源码
- HCNA Cloud Service 培训资料,H13-811题库,
- cloud-native-programming-golang
- Pointool 完整版
- Cloud Computing: Concepts Technology and Archi
- 金蝶K/3cloud数据库字段字典,二次开发
- newifi_D1官方固件xCloudOS
- cloudcompare依赖的动态库
- cloud_viewer
- 深信服云计算资源云计算、aCloud、a
- springcloud项目demo
- cloudcompare离线帮助文档cloudcompare.chm
- 每天5分钟玩转Docker容器技术.CloudMan(
评论
共有 条评论