WebSVN – seema-scanner – Diff – /src/SMPointCloudWidget.cpp


#include "SMPointCloudWidget.h"
 
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
 
#include <vtkWindowToImageFilter.h>
#include <vtkPNGWriter.h>
#include <vtkRenderWindow.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/visualization/point_cloud_color_handlers.h>
#include <pcl/geometry/quad_mesh.h>
 
#include <vtkGenericOpenGLRenderWindow.h>
 
#include <fstream>
 
#include <QFileDialog>
#include <QSettings>
 
#include "SMCalibrationParameters.h"
 
SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKOpenGLWidget(parent) {
 
//    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
//    this->SetRenderWindow(visualizer->getRenderWindow());
 
//    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
 
//    // Disable double buffering (which causes lag in VTK6)
//    visualizer->getRenderWindow()->SetDoubleBuffer(0);
 
    auto renderer = vtkSmartPointer<vtkRenderer>::New();
    auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow >::New();
    renderWindow->AddRenderer(renderer);
    visualizer = new pcl::visualization::PCLVisualizer(renderer, renderWindow, "PCLVisualizer", false);
    this->SetRenderWindow(visualizer->getRenderWindow());
    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
 
    this->update();
 
 
    visualizer->setShowFPS(false);
 
    // Create point cloud viewport
    visualizer->setBackgroundColor(0, 0, 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
 
 
    // Initialize point cloud color handler
    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();
 
    updateCalibrationParameters();
    //time.start();
}
 
void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(
                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    // transformation matrix in Eigen format
    cv::Mat TransformCV(3, 4, CV_32F);
    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
    Eigen::Affine3f Transform;
    cv::cv2eigen(TransformCV, Transform.matrix());
 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
 
    this->update();
 
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(
                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removePointCloud(int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    visualizer->removePointCloud(stringId);
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removeAllPointClouds(){
 
    visualizer->removeAllPointClouds();
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::saveScreenShot(){
 
    vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();
    //filter->SetInput(visualizer->getRenderWindow());
    filter->Modified();
 
    QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");
    QFileInfo info(fileName);
    QString type = info.suffix();
    if(type == "")
        fileName.append(".png");
 
    vtkPNGWriter* writer = vtkPNGWriter::New();
    writer->SetFileName(qPrintable(fileName));
    writer->SetInputConnection(filter->GetOutputPort());
    writer->Write();
    writer->Delete();
}
 
void SMPointCloudWidget::updateCalibrationParameters(){
 
    QSettings settings;
    QVariant calibrationVariant = settings.value("calibration/parameters");
    SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();
 
    // camera 0 coordinate system
    visualizer->removeCoordinateSystem("camera0", 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
 
    // camera 1 coordinate system
    cv::Mat Transform1CV(3, 4, CV_32F);
    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
    Eigen::Affine3f Transform1;
    cv::cv2eigen(Transform1CV, Transform1.matrix());
 
    visualizer->removeCoordinateSystem("camera1", 0);
    visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);
 
//    // rotation axis coordinate system
//    cv::Mat TransformRCV(3, 4, CV_32F);
//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));
//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));
//    Eigen::Affine3f TransformR;
 
//    cv::cv2eigen(TransformRCV, TransformR.matrix());
//    visualizer->removeCoordinateSystem("camera1", 0);
//    visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);
 
    // rotation axis pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, 0.0, 0.0);
    cv::Vec3f v(0.0, 600.0, 0.0);
 
    // determine coefficients in camera 0 frame
    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;
    v = calibration.Rr.t()*v + -calibration.Rr.t()*calibration.Tr - O;
 
    pcl::ModelCoefficients lineCoefficients;
    lineCoefficients.values.resize(6);
    lineCoefficients.values[0] = O[0];
    lineCoefficients.values[1] = O[1];
    lineCoefficients.values[2] = O[2];
    lineCoefficients.values[3] = v[0];
    lineCoefficients.values[4] = v[1];
    lineCoefficients.values[5] = v[2];
    visualizer->removeShape("line");
    visualizer->addLine(lineCoefficients, "line");
 
    this->update();
 
}
 
void SMPointCloudWidget::update(){
 
    this->GetRenderWindow()->Render();
    QVTKOpenGLWidget::update();
}
 
SMPointCloudWidget::~SMPointCloudWidget(){
 
    //delete visualizer;
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMPointCloudWidget.cpp – Rev 248 → 250

Rev 248		Rev 250
1	`#include "SMPointCloudWidget.h"`	1	`#include "SMPointCloudWidget.h"`
2		2
3	`#include <opencv2/opencv.hpp>`	3	`#include <opencv2/opencv.hpp>`
4	`#include <opencv2/core/eigen.hpp>`	4	`#include <opencv2/core/eigen.hpp>`
5		5
6	`#include <vtkWindowToImageFilter.h>`	6	`#include <vtkWindowToImageFilter.h>`
7	`#include <vtkPNGWriter.h>`	7	`#include <vtkPNGWriter.h>`
8	`#include <vtkRenderWindow.h>`	8	`#include <vtkRenderWindow.h>`
9		9
10	`#include <pcl/point_cloud.h>`	10	`#include <pcl/point_cloud.h>`
11	`#include <pcl/point_types.h>`	11	`#include <pcl/point_types.h>`
12	`#include <pcl/common/io.h>`	12	`#include <pcl/common/io.h>`
13	`#include <pcl/visualization/point_cloud_color_handlers.h>`	13	`#include <pcl/visualization/point_cloud_color_handlers.h>`
14	`#include <pcl/geometry/quad_mesh.h>`	14	`#include <pcl/geometry/quad_mesh.h>`
15		15
16	`#include <vtkGenericOpenGLRenderWindow.h>`	16	`#include <vtkGenericOpenGLRenderWindow.h>`
17		17
18	`#include <fstream>`	18	`#include <fstream>`
19		19
20	`#include <QFileDialog>`	20	`#include <QFileDialog>`
21	`#include <QSettings>`	21	`#include <QSettings>`
22		22
23	`#include "SMCalibrationParameters.h"`	23	`#include "SMCalibrationParameters.h"`
24		24
25	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKOpenGLWidget(parent) {`	25	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKOpenGLWidget(parent) {`
26		26
27	`// visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`	27	`// visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`
28	`// this->SetRenderWindow(visualizer->getRenderWindow());`	28	`// this->SetRenderWindow(visualizer->getRenderWindow());`
29		29
30	`// visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());`	30	`// visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());`
31		31
32	`// // Disable double buffering (which causes lag in VTK6)`	32	`// // Disable double buffering (which causes lag in VTK6)`
33	`// visualizer->getRenderWindow()->SetDoubleBuffer(0);`	33	`// visualizer->getRenderWindow()->SetDoubleBuffer(0);`
34		34
35	`auto renderer = vtkSmartPointer<vtkRenderer>::New();`	35	`auto renderer = vtkSmartPointer<vtkRenderer>::New();`
36	`auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow >::New();`	36	`auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow >::New();`
37	`renderWindow->AddRenderer(renderer);`	37	`renderWindow->AddRenderer(renderer);`
38	`visualizer = new pcl::visualization::PCLVisualizer(renderer, renderWindow, "PCLVisualizer", false);`	38	`visualizer = new pcl::visualization::PCLVisualizer(renderer, renderWindow, "PCLVisualizer", false);`
39	`this->SetRenderWindow(visualizer->getRenderWindow());`	39	`this->SetRenderWindow(visualizer->getRenderWindow());`
40	`visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());`	40	`visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());`
41		41
42	`this->update();`	42	`this->update();`
43		43
44		44
45	`visualizer->setShowFPS(false);`	45	`visualizer->setShowFPS(false);`
46		46
47	`// Create point cloud viewport`	47	`// Create point cloud viewport`
48	`visualizer->setBackgroundColor(0, 0, 0);`	48	`visualizer->setBackgroundColor(0, 0, 0);`
49	`visualizer->addCoordinateSystem(100, "camera0", 0);`	49	`visualizer->addCoordinateSystem(100, "camera0", 0);`
50	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	50	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
51		51
52		52
53	`// Initialize point cloud color handler`	53	`// Initialize point cloud color handler`
54	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`	54	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`
55		55
56	`updateCalibrationParameters();`	56	`updateCalibrationParameters();`
57	`//time.start();`	57	`//time.start();`
58	`}`	58	`}`
59		59
60	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`	60	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`
61		61
62	`std::string stringId = QString::number(id).toStdString();`	62	`std::string stringId = QString::number(id).toStdString();`
63	`// std::string stringId = QString("id%1").arg(id).toStdString();`	63	`// std::string stringId = QString("id%1").arg(id).toStdString();`
64		64
65	`// Note: using the color handler makes a copy of the rgb fields`	65	`// Note: using the color handler makes a copy of the rgb fields`
66	`colorHandler->setInputCloud(pointCloud.pointCloud);`	66	`colorHandler->setInputCloud(pointCloud.pointCloud);`
67		67
68	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	68	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
69	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	69	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
70	`visualizer->setPointCloudRenderingProperties(`	70	`visualizer->setPointCloudRenderingProperties(`
71	`pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	71	`pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
72	`}`	72	`}`
73		73
74	`// transformation matrix in Eigen format`	74	`// transformation matrix in Eigen format`
75	`cv::Mat TransformCV(3, 4, CV_32F);`	75	`cv::Mat TransformCV(3, 4, CV_32F);`
76	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	76	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
77	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	77	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
78	`Eigen::Affine3f Transform;`	78	`Eigen::Affine3f Transform;`
79	`cv::cv2eigen(TransformCV, Transform.matrix());`	79	`cv::cv2eigen(TransformCV, Transform.matrix());`
80		80
81	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	81	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`
82		82
83	`this->repaint();`	83	`this->update();`
84		84
85	`emit pointCloudDataChanged();`	85	`emit pointCloudDataChanged();`
86		86
87	`}`	87	`}`
88		88
89	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	89	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
90		90
91	`std::string stringId = QString::number(id).toStdString();`	91	`std::string stringId = QString::number(id).toStdString();`
92	`// std::string stringId = QString("id%1").arg(id).toStdString();`	92	`// std::string stringId = QString("id%1").arg(id).toStdString();`
93		93
94	`// Note: using the color handler makes a copy of the rgb fields`	94	`// Note: using the color handler makes a copy of the rgb fields`
95	`colorHandler->setInputCloud(pointCloud.pointCloud);`	95	`colorHandler->setInputCloud(pointCloud.pointCloud);`
96		96
97	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	97	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
98	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	98	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
99	`visualizer->setPointCloudRenderingProperties(`	99	`visualizer->setPointCloudRenderingProperties(`
100	`pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	100	`pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
101	`}`	101	`}`
102		102
103	`this->repaint();`	103	`this->update();`
104	`emit pointCloudDataChanged();`	104	`emit pointCloudDataChanged();`
105		105
106	`}`	106	`}`
107		107
108	`void SMPointCloudWidget::removePointCloud(int id){`	108	`void SMPointCloudWidget::removePointCloud(int id){`
109		109
110	`std::string stringId = QString::number(id).toStdString();`	110	`std::string stringId = QString::number(id).toStdString();`
111	`// std::string stringId = QString("id%1").arg(id).toStdString();`	111	`// std::string stringId = QString("id%1").arg(id).toStdString();`
112		112
113	`visualizer->removePointCloud(stringId);`	113	`visualizer->removePointCloud(stringId);`
114		114
115	`this->repaint();`	115	`this->update();`
116	`emit pointCloudDataChanged();`	116	`emit pointCloudDataChanged();`
117		117
118	`}`	118	`}`
119		119
120	`void SMPointCloudWidget::removeAllPointClouds(){`	120	`void SMPointCloudWidget::removeAllPointClouds(){`
121		121
122	`visualizer->removeAllPointClouds();`	122	`visualizer->removeAllPointClouds();`
123		123
124	`this->update();`	124	`this->update();`
125	`emit pointCloudDataChanged();`	125	`emit pointCloudDataChanged();`
126		126
127	`}`	127	`}`
128		128
129	`void SMPointCloudWidget::saveScreenShot(){`	129	`void SMPointCloudWidget::saveScreenShot(){`
130		130
131	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	131	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
132	`//filter->SetInput(visualizer->getRenderWindow());`	132	`//filter->SetInput(visualizer->getRenderWindow());`
133	`filter->Modified();`	133	`filter->Modified();`
134		134
135	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	135	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
136	`QFileInfo info(fileName);`	136	`QFileInfo info(fileName);`
137	`QString type = info.suffix();`	137	`QString type = info.suffix();`
138	`if(type == "")`	138	`if(type == "")`
139	`fileName.append(".png");`	139	`fileName.append(".png");`
140		140
141	`vtkPNGWriter* writer = vtkPNGWriter::New();`	141	`vtkPNGWriter* writer = vtkPNGWriter::New();`
142	`writer->SetFileName(qPrintable(fileName));`	142	`writer->SetFileName(qPrintable(fileName));`
143	`writer->SetInputConnection(filter->GetOutputPort());`	143	`writer->SetInputConnection(filter->GetOutputPort());`
144	`writer->Write();`	144	`writer->Write();`
145	`writer->Delete();`	145	`writer->Delete();`
146	`}`	146	`}`
147		147
148	`void SMPointCloudWidget::updateCalibrationParameters(){`	148	`void SMPointCloudWidget::updateCalibrationParameters(){`
149		149
150	`QSettings settings;`	150	`QSettings settings;`
151	`QVariant calibrationVariant = settings.value("calibration/parameters");`	151	`QVariant calibrationVariant = settings.value("calibration/parameters");`
152	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`	152	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`
153		153
154	`// camera 0 coordinate system`	154	`// camera 0 coordinate system`
155	`visualizer->removeCoordinateSystem("camera0", 0);`	155	`visualizer->removeCoordinateSystem("camera0", 0);`
156	`visualizer->addCoordinateSystem(100, "camera0", 0);`	156	`visualizer->addCoordinateSystem(100, "camera0", 0);`
157		157
158	`// camera 1 coordinate system`	158	`// camera 1 coordinate system`
159	`cv::Mat Transform1CV(3, 4, CV_32F);`	159	`cv::Mat Transform1CV(3, 4, CV_32F);`
160	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	160	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
161	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	161	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
162	`Eigen::Affine3f Transform1;`	162	`Eigen::Affine3f Transform1;`
163	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	163	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
164		164
165	`visualizer->removeCoordinateSystem("camera1", 0);`	165	`visualizer->removeCoordinateSystem("camera1", 0);`
166	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`	166	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`
167		167
168	`// // rotation axis coordinate system`	168	`// // rotation axis coordinate system`
169	`// cv::Mat TransformRCV(3, 4, CV_32F);`	169	`// cv::Mat TransformRCV(3, 4, CV_32F);`
170	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	170	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
171	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	171	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
172	`// Eigen::Affine3f TransformR;`	172	`// Eigen::Affine3f TransformR;`
173		173
174	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	174	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
175	`// visualizer->removeCoordinateSystem("camera1", 0);`	175	`// visualizer->removeCoordinateSystem("camera1", 0);`
176	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`	176	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`
177		177
178	`// rotation axis pointing (0,1,0) in rotation stage frame`	178	`// rotation axis pointing (0,1,0) in rotation stage frame`
179	`cv::Vec3f O(0.0, 0.0, 0.0);`	179	`cv::Vec3f O(0.0, 0.0, 0.0);`
180	`cv::Vec3f v(0.0, 600.0, 0.0);`	180	`cv::Vec3f v(0.0, 600.0, 0.0);`
181		181
182	`// determine coefficients in camera 0 frame`	182	`// determine coefficients in camera 0 frame`
183	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	183	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
184	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	184	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
185		185
186	`pcl::ModelCoefficients lineCoefficients;`	186	`pcl::ModelCoefficients lineCoefficients;`
187	`lineCoefficients.values.resize(6);`	187	`lineCoefficients.values.resize(6);`
188	`lineCoefficients.values[0] = O[0];`	188	`lineCoefficients.values[0] = O[0];`
189	`lineCoefficients.values[1] = O[1];`	189	`lineCoefficients.values[1] = O[1];`
190	`lineCoefficients.values[2] = O[2];`	190	`lineCoefficients.values[2] = O[2];`
191	`lineCoefficients.values[3] = v[0];`	191	`lineCoefficients.values[3] = v[0];`
192	`lineCoefficients.values[4] = v[1];`	192	`lineCoefficients.values[4] = v[1];`
193	`lineCoefficients.values[5] = v[2];`	193	`lineCoefficients.values[5] = v[2];`
194	`visualizer->removeShape("line");`	194	`visualizer->removeShape("line");`
195	`visualizer->addLine(lineCoefficients, "line");`	195	`visualizer->addLine(lineCoefficients, "line");`
196		196
197	`this->repaint();`	197	`this->update();`
-		198
-		199	`}`
-		200
-		201	`void SMPointCloudWidget::update(){`
198		202
-		203	`this->GetRenderWindow()->Render();`
-		204	`QVTKOpenGLWidget::update();`
199	`}`	205	`}`
200		206
201	`SMPointCloudWidget::~SMPointCloudWidget(){`	207	`SMPointCloudWidget::~SMPointCloudWidget(){`
202		208
203	`//delete visualizer;`	209	`//delete visualizer;`
204		210
205	`}`	211	`}`
206		212