本征，用四元数旋转vector3d吗？ [英] Eigen, rotate a vector3d with a quaternion?

问题描述

我有一个3d点数组，作​​为 std :: vector< Eigen :: Vector3d> 。

I have an array of 3d point, as an std::vector<Eigen::Vector3d>.

我需要使用位置和四元数来转换这些点。

I need to transform these points with a position and quaternion.

我的问题是：

如何我用四元数旋转这些点？还有比以下更快速的方法：

How can i rotate these points with a quaternion? And is there a faster way than:

    Eigen::Vector3d Trans; // position to move by
    Eigen::Quaterniond quats;  // quat to rotate by

for (int p = 0; p < objectPoints.size(); p++)
        {
            Eigen::Vector3d pnt;
            //add pose
            pnt.x = objectPointsTri[p].x + -Trans.x();
            pnt.y = objectPointsTri[p].y + -Trans.y();
            pnt.z = objectPointsTri[p].z + -Trans.z();

            Eigen::Vector3d pntRot = // rotate pnt by the quaternion



        }

推荐答案

操作员 * 即可完成工作，您可以当然可以简化您的代码：

Operator * will do the job, and you can of course simplify your code:

pnt = objectPointsTri[p] - Trans;
pntRot = quat * pnt;

甚至：

pnt = quat * (objectPointsTri[p] - Trans);

或者，如果您将点存储在 Matrix3Xd ：

or, if you store your points in a Matrix3Xd:

Matrix3Xd in_pts;
Matrix3Xd out_pts;
Affine3d T = quats * Translation3d(-Trans);
out_pts = T * in_pts;

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