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#include <pcl/point_types.h>
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#include <pcl/point_types.h>
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#include <pcl/common/io.h>
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#include <pcl/common/io.h>
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#include <pcl/visualization/point_cloud_color_handlers.h>
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#include <pcl/visualization/point_cloud_color_handlers.h>
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#include <pcl/geometry/quad_mesh.h>
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#include <pcl/geometry/quad_mesh.h>
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#include <fstream>
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#include <vtkGenericOpenGLRenderWindow.h>
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#include <fstream>
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#include <QFileDialog>
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#include <QFileDialog>
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#include <QSettings>
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#include <QSettings>
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#include "SMCalibrationParameters.h"
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#include "SMCalibrationParameters.h"
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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKOpenGLWidget(parent) {
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    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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//    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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    this->SetRenderWindow(visualizer->getRenderWindow());
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//    this->SetRenderWindow(visualizer->getRenderWindow());
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//    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
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//    // Disable double buffering (which causes lag in VTK6)
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//    visualizer->getRenderWindow()->SetDoubleBuffer(0);
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    auto renderer = vtkSmartPointer<vtkRenderer>::New();
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    auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow >::New();
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    renderWindow->AddRenderer(renderer);
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    visualizer = new pcl::visualization::PCLVisualizer(renderer, renderWindow, "PCLVisualizer", false);
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    this->SetRenderWindow(visualizer->getRenderWindow());
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    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
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    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
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    // Disable double buffering (which causes lag in VTK6)
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    visualizer->getRenderWindow()->SetDoubleBuffer(0);
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    this->update();
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    visualizer->setShowFPS(false);
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    visualizer->setShowFPS(false);
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    // Create point cloud viewport
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    // Create point cloud viewport
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    visualizer->setBackgroundColor(0, 0, 0);
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    visualizer->setBackgroundColor(0, 0, 0);
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    lineCoefficients.values[2] = O[2];
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    lineCoefficients.values[2] = O[2];
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    lineCoefficients.values[3] = v[0];
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    lineCoefficients.values[3] = v[0];
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    lineCoefficients.values[4] = v[1];
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    lineCoefficients.values[4] = v[1];
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    lineCoefficients.values[5] = v[2];
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    lineCoefficients.values[5] = v[2];
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    visualizer->removeShape("line");
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    visualizer->removeShape("line");
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    visualizer->addLine(lineCoefficients);
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    visualizer->addLine(lineCoefficients, "line");
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    this->repaint();
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    this->repaint();
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}
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}
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