matlab對點雲旋轉平移

1.顯示茶壺點雲

ptCloud = pcread('teapot.ply');
figure(1)
pcshow(ptCloud);
title('Teapot');

 

2.Create a transform object with 30 degree rotation along z -axis and translation [5,5,10].

創建一個沿z軸旋轉30度並平移的變換對象[5，5，10].
A = [cos(pi/6) sin(pi/6) 0 0; ...
-sin(pi/6) cos(pi/6) 0 0; ...
0 0 1 0; ...
5 5 10 1];
tform1 = affine3d(A);

3.Transform the point cloud.
ptCloudTformed = pctransform(ptCloud,tform1);

figure(2);
pcshow(ptCloudTformed);
title('Transformed Teapot');