cloudTransformTool.h

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#ifndef CLOUD_TRANSFORM_TOOL_H_
#define CLOUD_TRANSFORM_TOOL_H_

#include <pcl/apps/point_cloud_editor/toolInterface.h>
#include <pcl/apps/point_cloud_editor/localTypes.h>
#include <pcl/apps/point_cloud_editor/trackball.h>

class CloudTransformTool : public ToolInterface
{
  public:
    CloudTransformTool (CloudPtr cloud_ptr);

    ~CloudTransformTool ();

    void
    start (int x, int y, BitMask modifiers, BitMask buttons);

    void
    update (int x, int y, BitMask modifiers, BitMask buttons);

    void
    end (int, int, BitMask, BitMask)
    {
    }

    void
    draw() const
    {
    }

  private:

    void
    getTranslateMatrix (int dx, int dy, float* matrix);

    void
    getZTranslateMatrix (int dy, float* matrix);

    void
    getScaleMatrix (int dy, float* matrix);

    float transform_matrix_[MATRIX_SIZE];

    CloudPtr cloud_ptr_;

    TrackBall trackball_;
    
    int x_, y_;

    float scale_factor_;

    float translate_factor_;

    static const float DEFAULT_SCALE_FACTOR_;

    static const float DEFAULT_TRANSLATE_FACTOR_;
};
#endif  //CLOUD_TRANSFORM_TOOL_H_