通过Eigen的矩阵运算，将点云进行Z轴旋转45°，再沿X轴平移2.5.
http://pointclouds.org/documentation/tutorials/matrix_transform.php#matrix-transform #include <pcl/common/transforms.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>()); pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>()); float theta = M_PI / 4; // The angle of rotation in radians 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 around 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 // You can either apply transform_1 or transform_2; they are the same pcl::transformPointCloud(*source_cloud, *transformed_cloud, transform_2);