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Line 54... Line 54...
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    // Note: using the color handler makes a copy of the rgb fields
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    // Note: using the color handler makes a copy of the rgb fields
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->setPointCloudRenderingProperties(
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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     }
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     }
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    // transformation matrix in Eigen format
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    // transformation matrix in Eigen format
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    cv::Mat TransformCV(3, 4, CV_32F);
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    cv::Mat TransformCV(3, 4, CV_32F);
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    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
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    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
Line 82... Line 83...
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    // Note: using the color handler makes a copy of the rgb fields
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    // Note: using the color handler makes a copy of the rgb fields
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->setPointCloudRenderingProperties(
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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                    pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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     }
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     }
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    this->update();
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    this->update();
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    emit pointCloudDataChanged();
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    emit pointCloudDataChanged();
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