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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>