/***************************************************************************
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?=?\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）;
??

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-12-19?09:06??PointCloudPoseEstimation-master\
?????文件?????????692??2017-12-19?09:06??PointCloudPoseEstimation-master\CMakeLists.txt
?????目錄???????????0??2017-12-19?09:06??PointCloudPoseEstimation-master\data\
?????文件?????????243??2017-12-19?09:06??PointCloudPoseEstimation-master\data\Cam21RotationMatrix.xml
?????文件?????????208??2017-12-19?09:06??PointCloudPoseEstimation-master\data\Cam21TranslationMatrix.xml
?????文件?????????243??2017-12-19?09:06??PointCloudPoseEstimation-master\data\Cam31RotationMatrix.xml
?????文件?????????208??2017-12-19?09:06??PointCloudPoseEstimation-master\data\Cam31TranslationMatrix.xml
?????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
?????目錄???????????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
?????目錄???????????0??2017-12-19?09:06??PointCloudPoseEstimation-master\src\
?????文件????????3790??2017-12-19?09:06??PointCloudPoseEstimation-master\src\PointCloudPoseEstimation.cpp