改写代码使得主方向坐标系与参考坐标系重合EigenMatrix4f transformationEigenMatrix4fIdentity; transformationblock3 30 0 = eigen_vectorstranspose; R^-1 = R^T transformationblock3 10 3

Eigen::Matrix4f transformation(Eigen::Matrix4f::Identity()); transformation.block<3, 3>(0, 0) = eigen_vectors; // R = R transformation.block<3, 1>(0, 3) = -1.f * (eigen_vectors * centroid.head<3>()); // t = -R * t pcl::PointCloud transformed_cloud; // 变换后的点云 pcl::transformPointCloud(cloudg, transformed_cloud, transformation); PointType min_pt, max_pt; // 沿参考坐标系坐标轴的边界值 pcl::getMinMax3D(transformed_cloud, min_pt, max_pt); const Eigen::Vector3f mean_diag = 0.5f(max_pt.getVector3fMap() + min_pt.getVector3fMap()); // 形心 // 参考坐标系到主方向坐标系的变换关系 const Eigen::Quaternionf qfinal(eigen_vectors.transpose()); const Eigen::Vector3f tfinal = -eigen_vectors.transpose() * mean_diag + centroid.head<3>(); // 显示结果 pcl::visualization::PCLVisualizer viewer; pcl::visualization::PointCloudColorHandlerCustompcl::PointXYZRGB single_color(cloudg, 255, 255, 255); viewer.addPointCloudpcl::PointXYZRGB(cloudg, single_color, "cloud84")