PCL, calibration, transformation

pcl_calibaration.cpp

// calibaration
Eigen::Affine3f PCLTransformationMat(float x, float y, float z, float roll, float pitch, float yaw)
{
    Eigen::Affine3f transformation;
    transformation.setIdentity();

    Eigen::AngleAxisf rollAngle(roll, Eigen::Vector3f::UnitX());
    Eigen::AngleAxisf pitchAngle(pitch, Eigen::Vector3f::UnitY());
    Eigen::AngleAxisf yawAngle(yaw, Eigen::Vector3f::UnitZ());
    Eigen::Quaternion<float> q = rollAngle*pitchAngle*yawAngle;

    transformation.translate(Eigen::Vector3f(x, y, z));
    transformation.rotate(q);
    
    return transformation;
}

/* Example
/* pcl::PointCloud<pcl::PointXYZ>::Ptr _current_sensor_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
/* pcl::PointCloud<pcl::PointXYZ>::Ptr _calib_sensor_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
/* Eigen::Affine3f transformation = PCLTransformationMat(x, y, z, roll, pitch, yaw);   
/* pcl::transformPointCloud(*_current_sensor_cloud_ptr, *_calib_sensor_cloud_ptr, transformation);
*/