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Rotate 3-D Point Cloud Using Rigid Transformation

43 次查看（过去 30 天）
Alberto Acri
Alberto Acri 2022-12-20
编辑： Matt J 2022-12-20
Hi! I need to rotate a point cloud (or .txt file of the type rx3) by a certain angle theta with respect to the x-axis (or y- or z-axis) while keeping its center of gravity G (already calculated) fixed.
I am using the rotation matrix but I am unclear how to keep the center of gravity fixed and rotate only with respect to a given axis.
angle = 180;
angle_rad = deg2rad(angle);
rot_matrix = [ cos(angle_rad) sin(angle_rad) 0 0 ; ...
-sin(angle_rad) cos(angle_rad) 0 0 ; ...
0 0 1 0 ; ...
0 0 0 1 ];
I had initially tried using this code taken from this link but MatLab reports this error: "Unrecognized function or variable 'rigidtform3d'."
ptCloud = pcread('teapot.ply');
figure
pcshow(ptCloud)
xlabel('X')
ylabel('Y')
zlabel('Z')
rotationAngles = [0 0 45];
translation = [0 0 0];
tform = rigidtform3d(rotationAngles,translation)
ptCloudOut = pctransform(ptCloud,tform);
figure
pcshow(ptCloudOut)
xlabel('X')
ylabel('Y')
zlabel('Z')
Thanks to those who can answer me!
p.s. Otherwise if someone can send me this function ("rigidtform3d") since it's like I don't have it!

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采纳的回答

Matt J
Matt J 2022-12-20
编辑：Matt J 2022-12-20
Using AxelRot from this File Exchange download,
https://www.mathworks.com/matlabcentral/fileexchange/30864-3d-rotation-about-shifted-axis?s_tid=srchtitle
axisVector=[0,0,1]; %rotation about z-axis
xyz=AxelRot(ptCloud.Location',angle, axisVector, mean(ptCloud.Location,1) )';
ptCouldOut=pointCloud(xyz);

更多回答（2 个）

Bora Eryilmaz
Bora Eryilmaz 2022-12-20
编辑：Bora Eryilmaz 2022-12-20
  • First translate the point cloud to the origin using a translation of -G.
  • Rotate the point cloud around an axis.
  • Translate it back to its center of gravity using a translation of G.
Torsten
Torsten 2022-12-20
编辑：Torsten 2022-12-20
Ran in:
angle = 180;
angle_rad = deg2rad(angle);
rot_matrix = [ cos(angle_rad) -sin(angle_rad) 0 ; ...
sin(angle_rad) cos(angle_rad) 0 ; ...
0 0 1 ];
ptCloud = pcread('teapot.ply')
ptCloud =
pointCloud with properties: Location: [41472×3 single] Count: 41472 XLimits: [-3 3.4340] YLimits: [-2 2] ZLimits: [0 3.1500] Color: [] Normal: [] Intensity: []
gc = mean(ptCloud.Location,1)
gc = 1×3
0.0372 0.0000 1.7251
figure
pcshow(ptCloud)
xlabel('X')
ylabel('Y')
zlabel('Z')
gc = mean(ptCloud.Location,1)
gc = 1×3
0.0372 0.0000 1.7251
ptCloudOut = ptCloud.Location - gc;
ptCloudOut = (rot_matrix*ptCloudOut.').';
ptCloudOut = ptCloudOut + gc;
gc_transformed = mean(ptCloudOut,1)
gc_transformed = 1×3
0.0372 -0.0000 1.7251
figure
pcshow(ptCloudOut)
xlabel('X')
ylabel('Y')
zlabel('Z')

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