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#include <vtkPolyDataWriter.h>
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#include <vtkPolyDataWriter.h>
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#include <pcl/conversions.h>
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#include <pcl/conversions.h>
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#include <fstream>
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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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    updateCalibrationParameters();
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    updateCalibrationParameters();
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    //time.start();
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    //time.start();
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}
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}
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void SMPointCloudWidget::addPointCloud(PointCloudPtr _pointCloudPCL){
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void SMPointCloudWidget::addPointCloud(PointCloudPtr _pointCloudPCL, int id){
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//    time.restart();
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    pointCloudPCL = _pointCloudPCL;
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    pointCloudPCL = _pointCloudPCL;
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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(_pointCloudPCL);
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    colorHandler->setInputCloud(_pointCloudPCL);
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    visualizer->addPointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL");
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    visualizer->addPointCloud(pointCloudPCL, *colorHandler, QString::number(id).toStdString());
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    visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "pointCloudPCL");
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    visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, QString::number(id).toStdString());
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    this->update();
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    this->update();
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    emit newPointCloudDisplayed();
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    emit newPointCloudDisplayed();
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//    std::cout << "PCL Widget: " << time.restart() << "ms" << std::endl;
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}
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}
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void SMPointCloudWidget::updatePointCloud(PointCloudPtr _pointCloudPCL){
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void SMPointCloudWidget::updatePointCloud(PointCloudPtr _pointCloudPCL, int id){
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//    time.restart();
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    pointCloudPCL = _pointCloudPCL;
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    pointCloudPCL = _pointCloudPCL;
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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(_pointCloudPCL);
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    colorHandler->setInputCloud(_pointCloudPCL);
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    if(!visualizer->updatePointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL")){
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    if(!visualizer->updatePointCloud(pointCloudPCL, *colorHandler, QString::number(id).toStdString())){
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        visualizer->addPointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL");
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        visualizer->addPointCloud(pointCloudPCL, *colorHandler, QString::number(id).toStdString());
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "pointCloudPCL");
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, QString::number(id).toStdString());
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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 newPointCloudDisplayed();
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    emit newPointCloudDisplayed();
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//    std::cout << "PCL Widget: " << time.restart() << "ms" << std::endl;
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}
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}
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void SMPointCloudWidget::savePointCloud(){
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void SMPointCloudWidget::savePointCloud(){
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    QString selectedFilter;
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    QString selectedFilter;