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Line 73... Line 73...
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        point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;
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        point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;
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        point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];
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        point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];
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        pointCloudPCL->points[i] = point;
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        pointCloudPCL->points[i] = point;
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    }
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    }
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    // Estimate surface normals
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//    // Estimate surface normals
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    // This is much to slow to leave it on by default
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    pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;
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//    pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;
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    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
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//    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
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    pcl::copyPointCloud(*pointCloudPCL, *pointCloudPCLCopy);
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//    pcl::copyPointCloud(*pointCloudPCL, *pointCloudPCLCopy);
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    //ne.setKSearch(10);
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//    //ne.setKSearch(10);
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    ne.setRadiusSearch(0.5);
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//    ne.setRadiusSearch(0.5);
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    ne.setViewPoint(0.0, 0.0, 0.0);
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//    ne.setViewPoint(0.0, 0.0, 0.0);
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    ne.setInputCloud(pointCloudPCLCopy);
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//    ne.setInputCloud(pointCloudPCLCopy);
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    ne.compute(*pointCloudPCL);
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//    ne.compute(*pointCloudPCL);
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    // Assemble SMPointCloud data structure
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    // Assemble SMPointCloud data structure
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    SMPointCloud smPointCloud;
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    SMPointCloud smPointCloud;
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    smPointCloud.id = frameSequence.id;
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    smPointCloud.id = frameSequence.id;
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    smPointCloud.pointCloud = pointCloudPCL;
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    smPointCloud.pointCloud = pointCloudPCL;