1 ///
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32 /// The following software was written as part of a collaboration with the
33 /// University of South Carolina, Interdisciplinary Mathematics Institute.
34 ///
35
36 /// @file cloudTransformTool.cpp
37 /// @details the implementation of class CloudTransformTool
38 /// @author Yue Li and Matthew Hielsberg
39
40 #include <pcl/apps/point_cloud_editor/common.h>
41 #include <pcl/apps/point_cloud_editor/cloudTransformTool.h>
42 #include <pcl/apps/point_cloud_editor/cloud.h>
43
44 const float CloudTransformTool::DEFAULT_SCALE_FACTOR_ = 1.14;
45 const float CloudTransformTool::DEFAULT_TRANSLATE_FACTOR_ = 0.001f;
46
47
CloudTransformTool(CloudPtr cloud_ptr)48 CloudTransformTool::CloudTransformTool (CloudPtr cloud_ptr)
49 : cloud_ptr_(std::move(cloud_ptr)), x_(0), y_(0), scale_factor_(DEFAULT_SCALE_FACTOR_),
50 translate_factor_(DEFAULT_TRANSLATE_FACTOR_)
51 {
52 setIdentity(transform_matrix_);
53 }
54
~CloudTransformTool()55 CloudTransformTool::~CloudTransformTool ()
56 {
57 }
58
59 void
start(int x,int y,BitMask,BitMask)60 CloudTransformTool::start (int x, int y, BitMask, BitMask)
61 {
62 x_ = x;
63 y_ = y;
64
65 trackball_.start(x, y);
66 }
67
68 void
update(int x,int y,BitMask modifiers,BitMask buttons)69 CloudTransformTool::update (int x, int y, BitMask modifiers, BitMask buttons)
70 {
71 if (!cloud_ptr_)
72 return;
73 if (!(buttons & LEFT))
74 return;
75
76 float transform[MATRIX_SIZE];
77
78 int dx = (x - x_);
79 int dy = (y - y_);
80 if (dx == 0 && dy == 0)
81 return;
82 trackball_.update(x, y);
83 if (modifiers & CTRL)
84 getTranslateMatrix(dx, dy, transform);
85 else if (modifiers & ALT)
86 getZTranslateMatrix(dy, transform);
87 else if (modifiers & SHFT)
88 getScaleMatrix(dy, transform);
89 else
90 trackball_.getRotationMatrix(transform);
91
92 cloud_ptr_ -> multMatrix(transform);
93
94 x_ = x;
95 y_ = y;
96 }
97
98 void
getTranslateMatrix(int dx,int dy,float * matrix)99 CloudTransformTool::getTranslateMatrix (int dx, int dy, float* matrix)
100 {
101 setIdentity(matrix);
102 float scale = 1.0f / cloud_ptr_-> getScalingFactor();
103 matrix[12] = float(dx) * translate_factor_ * scale;
104 matrix[13] = float(-dy) * translate_factor_ * scale;
105 }
106
107 void
getZTranslateMatrix(int dy,float * matrix)108 CloudTransformTool::getZTranslateMatrix (int dy, float* matrix)
109 {
110 setIdentity(matrix);
111 matrix[14] = float(dy) * translate_factor_ / cloud_ptr_-> getScalingFactor();
112 }
113
114 void
getScaleMatrix(int dy,float * matrix) const115 CloudTransformTool::getScaleMatrix (int dy, float* matrix) const
116 {
117 setIdentity(matrix);
118 float scale = dy > 0 ? scale_factor_ : 1.0 / scale_factor_;
119 for (unsigned int i = 0; i < MATRIX_SIZE-1; i+=MATRIX_SIZE_DIM+1)
120 matrix[i] = scale;
121 }
122
123