MATLAB: Transform 3D point cloud

point cloudrotation matrixtransfor point cloud

I have a point cloud and a rotation matrix like this:
rot=[ -0.48664090 0.36675647 0.79288739;
-0.67601788 -0.73296887 -0.075871207;
-0.55333579 0.57292831 -0.60462612 ]
How can I transform the point cloud using this rotation matrix? I cannot use this matrix with pctrasform and rigid3d.

Best Answer

Funny. Well, you can always use affine3d,
rot=[ -0.48664090	0.36675647	0.79288739;
        -0.67601788	-0.73296887	-0.075871207;
        -0.55333579	0.57292831	-0.60462612 ];
T=eye(4); 
T(1:3,1:3)=rot;
tform=affine3d(T)
tform = 
  affine3d with properties:

                 T: [4×4 double]
    Dimensionality: 3
As a side note, your matrix is not a proper rotation, since its determinant is -1.
det(rot)
ans = -1.0000
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