将点云的坐标转换为点云库中的另一个坐标，这使得地平面为X-O-Y平面？ [英] Transform point cloud's coordinates to another coordinates in Point Cloud Library, which makes the ground plane as the X-O-Y plane?

问题描述

我有一个来自kinect融合的点云，并使用点云库成功地分割地平面（一个 x + b y + c * z + d = 0） b，c，d在接地平面的pcl :: ModelCoefficients中）。现在我需要将笛卡尔坐标转换为新的笛卡尔坐标，使地平面成为X-O-Y平面（0 * x + 0 * y + z = 0）。
我想我可以通过这个API（但我不知道如何）：
http://docs.pointclouds.org/trunk/group__common.html#transformPointCloud

I have a point cloud from kinect fusion and use Point Cloud Library to segment the ground plane(ax+by+c*z+d=0) successfully(I got the a,b,c,d in pcl::ModelCoefficients of the ground plane). Now I need to transform the Cartesian coordinates to new Cartesian coordinates that makes the ground plane became the X-O-Y plane(0*x+0*y+z=0). I guess I can do it by this API(but I don't know how): http://docs.pointclouds.org/trunk/group__common.html#transformPointCloud

我的答案：
查看此PCL API： http：//docs.pointclouds .org / 1.7.2 / a02405.html＃ga4375e99ec2ae368eec9379f506568611

我成功解决了这个问题！

I successfully solved this problem!

推荐答案

此功能需要相机姿势，这是一个4x4矩阵，形式为

This function requires camera pose, which is a 4x4 matrix, of the form

| R   t |
| 0   1 |

这里，R是3x3旋转矩阵，t是3x1平移矢量，0-是1x3矢量的零和1是一个单位（标量）。

Here, R is 3x3 rotation matrix, t is a 3x1 translation vector, 0 - is a 1x3 vector of zeros, and 1 is a unity (scalar).

你应该这样设计这个矩阵，一个新的坐标系中的Z轴将与你的飞机的法向量。新的X和Y轴是任意的，唯一的限制是它们必须形成正交基。

You should design this matrix in such a way, that Z axis in a new coordinate system will be collinear to the normal vector of your plane. New X and Y axes are arbitrary, the only restriction is that they must form orthogonal basis.

此链接说明如何导出矩阵R.

This link explains how to derive matrix R.

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