matrix_transformation

Brief

Transform a point cloud using a 4x4 matrix (applying rotation and a translation).

Input file structure

• .pcd or .ply file.

Check your .pcd/.ply file with: head <pcd/ply file>

Output file structure

Method: using an Affine3f
 0.707107 -0.707107         0       2.5
 0.707107  0.707107         0         0
        0         0         1         0
        0         0         0         1

Point cloud colors :  white   = original point cloud
                       red    = transformed point cloud

Dependency

• pcl (Point Cloud Library)

You can install pcl using:

sudo apt install libpcl-dev

Compile

You can use the following commands to compile the package:

git clone https://github.com/cristianrubioa/matrix_transformation.git
cd /matrix_transformation
mkdir build && cd build
cmake ../src/
make

Run the package

Stand in the "build" folder and run:

cd ~/matrix_transformation/build
./matrix_transformation ../models/ply or pcd file>

./matrix_transform ../models/cube.ply   #e.g.