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Line 35... Line 35...
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    // this leads to a segfault on OS X
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    // this leads to a segfault on OS X
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    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
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    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
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#endif
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#endif
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    // Initialize point cloud color handler
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    // Initialize point cloud color handler
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    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();
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    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();
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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(SMPointCloud pointCloud, int id){
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void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
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    std::string stringId = QString::number(id).toStdString();
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    //std::string stringId = QString::number(id).toStdString();
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    std::string stringId = QString("id%1").arg(id).toStdString();
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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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    visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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    visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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}
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}
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void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
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void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
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- 
 
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    //std::string stringId = QString::number(id).toStdString();
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    std::string stringId = QString("id%1").arg(id).toStdString();
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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, QString::number(id).toStdString())){
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, QString::number(id).toStdString());
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, QString::number(id).toStdString());
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        visualizer->setPointCloudRenderingProperties(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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}
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}
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void SMPointCloudWidget::removePointCloud(int id){
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void SMPointCloudWidget::removePointCloud(int id){
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    std::string stringId = QString::number(id).toStdString();
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    //std::string stringId = QString::number(id).toStdString();
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    std::string stringId = QString("id%1").arg(id).toStdString();
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    visualizer->removePointCloud(stringId);
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    visualizer->removePointCloud(stringId);
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    this->update();
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    this->update();
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    emit pointCloudDataChanged();
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    emit pointCloudDataChanged();