C++ 如何将pcl::CropBox旋转到它自己的特定轴而不是全局轴?或者如何将仿射变换应用于pcl::CropBox?
我有一个立方体形状的点云,其x、y和z坐标范围为-1.0到1.0个单位C++ 如何将pcl::CropBox旋转到它自己的特定轴而不是全局轴?或者如何将仿射变换应用于pcl::CropBox?,c++,computer-vision,transformation,point-cloud-library,point-clouds,C++,Computer Vision,Transformation,Point Cloud Library,Point Clouds,我有一个立方体形状的点云,其x、y和z坐标范围为-1.0到1.0个单位 #include <pcl/ModelCoefficients.h> #include <pcl/common/common.h> #include <pcl/filters/crop_box.h> #include <pcl/filters/voxel_grid.h> #include <pcl/io/pcd_io.h> #include <pcl/poin
#include <pcl/ModelCoefficients.h>
#include <pcl/common/common.h>
#include <pcl/filters/crop_box.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <iostream>
#include <string>
#include <vector>
int main() {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr
main_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>),
cropped_cloud_ptr1(new pcl::PointCloud<pcl::PointXYZRGB>),
cropped_cloud_ptr2(new pcl::PointCloud<pcl::PointXYZRGB>);
float x_start = -1.0, x_end = 1.0, x_resolution = 0.05;
float y_start = -1.0, y_end = 1.0, y_resolution = 0.05;
float z_start = -1.0, z_end = 1.0, z_resolution = 0.05;
float rgb_color_mul = 5.0;
float rgb_color_add = 10.0;
pcl::PointXYZRGB pt;
for (float i = x_start; i < x_end; i += x_resolution) {
for (float j = y_start; j < y_end; j += y_resolution) {
for (float k = z_start; k < z_end; k += z_resolution) {
pt.x = i;
pt.y = j;
pt.z = k;
pt.r = i * 100 + 100;
pt.g = 200;
pt.b = j * 100 + 50;
main_cloud_ptr->points.push_back(pt);
}
}
}
std::cout << "main_cloud_ptr->points.size() = " << main_cloud_ptr->points.size() << "\n";
pcl::visualization::PCLVisualizer::Ptr visualizer1(new pcl::visualization::PCLVisualizer("visualizer1 -- main_cloud_ptr"));
visualizer1->setBackgroundColor(0, 0, 0);
visualizer1->addPointCloud<pcl::PointXYZRGB>(main_cloud_ptr, "main_cloud_ptr");
visualizer1->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "main_cloud_ptr");
visualizer1->addCoordinateSystem(0.5);
visualizer1->addCube(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0, 1.0, 1.0, "cube1");
visualizer1->setRepresentationToWireframeForAllActors();
while (!visualizer1->wasStopped()) {
visualizer1->spinOnce();
}
对于任务2,除了使用setRotation
方法设置pcl::CropBox
的旋转外,我在任务1中几乎遵循了相同的过程,并做了如下操作:
pcl::CropBox<pcl::PointXYZRGB> box_filter2;
box_filter2.setMin(Eigen::Vector4f(-1.0, -1.0, 0.3, 1.0));
box_filter2.setMax(Eigen::Vector4f(1.0, 1.0, 0.5, 1.0));
box_filter2.setRotation(Eigen::Vector3f(M_PI / 4, 0, 0));
box_filter2.setInputCloud(main_cloud_ptr);
box_filter2.filter(*cropped_cloud_ptr2);
pcl::visualization::PCLVisualizer::Ptr visualizer3(new pcl::visualization::PCLVisualizer("visualizer2 -- cropped_cloud_ptr2"));
visualizer3->setBackgroundColor(0, 0, 0);
visualizer3->addPointCloud<pcl::PointXYZRGB>(cropped_cloud_ptr2, "cropped_cloud_ptr2");
visualizer3->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cropped_cloud_ptr2");
visualizer3->addCoordinateSystem(0.5);
visualizer3->addCube(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0, 1.0, 1.0, "cube3");
visualizer3->setRepresentationToWireframeForAllActors();
while (!visualizer3->wasStopped()) {
visualizer3->spinOnce();
}
return 0;
}
pcl::CropBox box_过滤器2;
box_filter2.setMin(本征向量4f(-1.0,-1.0,0.3,1.0));
box_filter2.setMax(本征向量4f(1.0,1.0,0.5,1.0));
box_filter2.设置旋转(特征::向量3f(M_PI/4,0,0));
box_filter2.setInputCloud(主_cloud_ptr);
框过滤器2.过滤器(*裁剪的云过滤器2);
pcl::visualization::PCLVisualizer::Ptr Visualizar3(新的pcl::visualization::PCLVisualizer(“Visualizar2--craped_cloud_ptr2”);
可视化3->setBackgroundColor(0,0,0);
可视化3->addPointCloud(裁剪后的云“裁剪后的云”);
visualizer3->setPointCloudRenderingProperties(pcl::visualization::pcl_VISUALIZER_POINT_大小,2,“裁剪的_cloud_ptr2”);
可视化3->添加协调系统(0.5);
可视化3->addCube(-1.0,1.0,-1.0,1.0,-1.0,1.0,1.0,1.0,1.0,1.0,“立方体3”);
可视化3->SetRepresentationToDirectFrameforAllactors();
而(!visualizer3->wasstop()){
可视化3->spinOnce();
}
返回0;
}
但是,在这种情况下,长方体将按全局X轴旋转
这不是我想要的。我只想将长方体旋转/倾斜到其自身的x轴(即,想象长方体的局部坐标系,原点位于长方体的质心,所有局部x、y和z轴与全局x、y和z轴平行。)
我知道在pcl::CropBox
中有一个setTransform
方法,它将Eigen::Affine3f
的对象作为输入参数。但是,在我的案例中,我如何使用它来旋转/命名cropBox,使其仅具有自己的x轴
如果还有其他方法可以解决这个问题,那么也请分享您的想法/解决方案。今天,我遇到了
pcl::BoxClipper3D
类,其中提到在3D中实现一个长方体裁剪器。实际上,它允许仿射变换,因此任何平行六面体在一般姿势。仿射变换用于在使用以原点为中心的单位立方体对点进行剪裁之前对点进行变换,每个维度的延伸范围为-1到+1。“但是,如何使用特征值应用仿射变换呢?”?
pcl::CropBox<pcl::PointXYZRGB> box_filter2;
box_filter2.setMin(Eigen::Vector4f(-1.0, -1.0, 0.3, 1.0));
box_filter2.setMax(Eigen::Vector4f(1.0, 1.0, 0.5, 1.0));
box_filter2.setRotation(Eigen::Vector3f(M_PI / 4, 0, 0));
box_filter2.setInputCloud(main_cloud_ptr);
box_filter2.filter(*cropped_cloud_ptr2);
pcl::visualization::PCLVisualizer::Ptr visualizer3(new pcl::visualization::PCLVisualizer("visualizer2 -- cropped_cloud_ptr2"));
visualizer3->setBackgroundColor(0, 0, 0);
visualizer3->addPointCloud<pcl::PointXYZRGB>(cropped_cloud_ptr2, "cropped_cloud_ptr2");
visualizer3->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cropped_cloud_ptr2");
visualizer3->addCoordinateSystem(0.5);
visualizer3->addCube(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0, 1.0, 1.0, "cube3");
visualizer3->setRepresentationToWireframeForAllActors();
while (!visualizer3->wasStopped()) {
visualizer3->spinOnce();
}
return 0;
}