opencv连杆操作

1、?智能机器人?实验报告实验四连杆操作【实验目的】理解3D点云运算,能够熟练编程实现连杆的空间运动模拟.【实验条件】Ubuntu系统PCL库Opencv 库【实验原理】在对机器人运动学中旋转及平移操作进行充分理解的根底上,综 合运用旋转平移组合等操作,实现连杆移动的仿真.如以下图所示,图 中3D点云为单个连杆.运用opencv及PCL操作该连杆,实现两连杆 的连接以及旋转仿真.【实验内容】完成以下程序,要求使用opencv完成点云的旋转平移等操作,并将 操作后的点云转换为pcl的PointCloud类型返回,以便之后的程序 显示结果.pcl:PointCloud<pcl:PointXYZ&

2、gt; linkageTransformation(pcl:PointCloud<pcl:PointXYZ> pointcloudinput)pcl:PointCloud<pcl二PointXYZ> pointcloudoutput;/* please finish this program to implement 3D points linkage Transformation.* input: pointcloudinput* output: pointcloudoutput* description: calculate pointcloudoutput by

3、Transformating linkage point cloud*/cv:Mat l1 =cv:Mat(3,(),CV_32F);cerr << "=" << endl;< float>(0, i) =(i).x;< float>(1, i) =(i).y;< float>(2, i) =(i).z;)cerr« "=" « endl;cv:Mat I2 =cv:Mat(3,(),CV_32F);for(int i=O;i<();+i)(< float>

4、(0, i) =(i).x;< float>(1, i) =(i).y;< float>(2, i) =(i).z;)cerr« "=" « endl;cv:Mat R1 = cv:Mat(3,3,CV_32F);<float>(0,0)=cos4);<float>(1,0)=sin4);<float>(2,0)=0;<float>(1,0)=-sin4);<float>(1,1)=cos4);<float>(1,2)=0;<float>(2,0)

5、=0;<float>(2,1)=0;<float>(2,2)=1;11 = R1 *11;cerr« "=" « endl;cv:Mat R2 = cv:Mat(3,3,CV_32F);<float>(0,0)=cos;<float>(1,0)=sin;<float>(2,0)=0;<float>(1,0)=-sin;<float>(1,1)=cos;<float>(1,2)=0;<float>(2,0)=0;<float>(2,1)=

6、0;<float>(2,2)=1;12 = R2 * I2;cerr« "=" « endl;for(int i = 0; i < ();i+)(<float>(0,i) +=;)cv:Mat c = cv:Mat(3, (),CV_32F);for(int i = 0; i < ();i+)(<float>(0,i)=;<float>(1,i)=;<float>(2,i) = 0;)12 = 12 + c;pcl二PointC1oud<pc1:PointXYZ> pointc1oud11,pointc1oud12;for(int i =0; i<+i)(i).x = <f1oat>(0,i);(i).y = <f1oat>(1,i);(i).z = <f1oat>(2,i);(i);)for(int i =0; i<+i)(i).x = <f1oat>(0,i);(i).y = <f1oat>(1,i);(i)