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#ifndef SMPointCloudWidget_H
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#ifndef SMPointCloudWidget_H
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#define SMPointCloudWidget_H
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#define SMPointCloudWidget_H
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#include <QTime>
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#include <QTime>
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//#ifndef Q_MOC_RUN
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//#ifndef Q_MOC_RUN
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    #include <QVTKOpenGLWidget.h>
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    #include <QVTKOpenGLWidget.h>
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    #include <pcl/visualization/pcl_visualizer.h>
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    #include <pcl/visualization/pcl_visualizer.h>
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    #include <Eigen/Eigen>
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    #include <Eigen/Eigen>
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//#endif
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//#endif
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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#include "SMTypes.h"
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#include "SMTypes.h"
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typedef pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr PointCloudPtr;
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typedef pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr PointCloudPtr;
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typedef pcl::PointCloud<pcl::PointXYZRGBNormal>::ConstPtr PointCloudConstPtr;
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typedef pcl::PointCloud<pcl::PointXYZRGBNormal>::ConstPtr PointCloudConstPtr;
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typedef pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGBNormal>* ColorHandlerPtr;
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typedef pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGBNormal>* ColorHandlerPtr;
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typedef const pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGBNormal>* ColorHandlerConstPtr;
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typedef const pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGBNormal>* ColorHandlerConstPtr;
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class SMPointCloudWidget : public QVTKOpenGLWidget {
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class SMPointCloudWidget : public QVTKOpenGLWidget {
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    Q_OBJECT
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    Q_OBJECT
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    public:
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    public:
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        explicit SMPointCloudWidget(QWidget *parent = 0);
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        explicit SMPointCloudWidget(QWidget *parent = 0);
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        ~SMPointCloudWidget();
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        ~SMPointCloudWidget();
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    public slots:
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    public slots:
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        void addPointCloud(SMPointCloud pointCloud, int id);
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        void addPointCloud(SMPointCloud pointCloud, int id);
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        void updatePointCloud(SMPointCloud pointCloud, int id);
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        void updatePointCloud(SMPointCloud pointCloud, int id);
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        void removePointCloud(int id);
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        void removePointCloud(int id);
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        void removeAllPointClouds();
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        void removeAllPointClouds();
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        void saveScreenShot();
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        void saveScreenShot();
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        void updateCalibrationParameters();
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        void updateCalibrationParameters();
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    signals:
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    signals:
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        void pointCloudDataChanged();
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        void pointCloudDataChanged();
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    private:
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    private:
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        pcl::visualization::PCLVisualizer *visualizer;
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        pcl::visualization::PCLVisualizer *visualizer;
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        ColorHandlerPtr colorHandler;
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        ColorHandlerPtr colorHandler;
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        QTime time;
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        QTime time;
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        void update();
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};
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};
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#endif // SMPointCloudWidget_H
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#endif // SMPointCloudWidget_H
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