align_pointcloud
Alignment between the coordinate system of a point cloud and the global coordinate system of pcl. Using the dot product and the cross product, a normal plane vector is extracted from the point cloud using the NormalEstimation Method. Then, a normal plane XYZ vector (x = 0, y = 0, z = 1). Finally, a rotation matrix is obtained from a rotation vector (axis of rotation) and an angle of rotation.
Input file structure support
- .pcd
- .ply
Example
Compile
- Set "YOUR" PCL Build DIR in CMakeList.txt e.g: /opt/pcl-1.8.1/build and save it. (support pcl 1.9.1)
- Create a "build" folder
in the main folder:
cd /build
cmake ../
make
Test
cd /build
./align_cloud <pcd file>
./align_cloud2 <pcd file>