pcl

1.获取最小最大值

#include <pcl/common/common.h>

pcl::PointXYZ minPt, maxPt;
getMinMax3D(*cloud, minPt, maxPt);

2.旋转和平移

#include <pcl/common/transforms.h>
float theta = M_PI / 180 * 22.6255761874; 

float thetax = M_PI / 180 * 8.4;

Eigen::Affine3f transform_2 = Eigen::Affine3f::Identity();

transform_2.translation() << 0.0, 0.0, 6.5;

transform_2.rotate(Eigen::AngleAxisf(theta, Eigen::Vector3f::UnitY()));
transform_2.rotate(Eigen::AngleAxisf(-thetax, Eigen::Vector3f::UnitZ()));

pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::transformPointCloud(*cloud, *transformed_cloud, transform_2);

3.view视图中添加坐标系显示

visualizer->addCoordinateSystem(10.0, 0, 0, 0, "CloudPoint");

4.view视图中添加一条线，设置颜色和线宽

pcl::PointXYZ startPt,endPt;

visualizer->addLine<pcl::PointXYZ>(startPt, endPt, 255, 255, 255, "line" );
visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 2, "line");

5.view视图中点云赋单色和设置点大小

pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(transformed_cloud, 255, 255, 0);
visualizer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "CloudPoint");
visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "CloudPoint");

6.view视图总设置相机视点信息

visualizer->initCameraParameters();
visualizer->setCameraPosition(0,-100,0,0,0,0,0,-100,1);//（0，-100，0）表示相机的位置，（0，0，0）表示从相机位置看向该点设置相机的朝向，（0，-100，1）表示相机的张上方的位置用于设置相机的旋转

7.保存点云数据

pcl::io::savePCDFileASCII(“cloud.pcd”, *cloud);