hfaulds

import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;

import javax.media.opengl.GL;
import javax.media.opengl.GL2;
import javax.media.opengl.GLAutoDrawable;
import javax.media.opengl.GLCapabilities;
import javax.media.opengl.GLEventListener;
import javax.media.opengl.GLProfile;
import javax.media.opengl.awt.GLCanvas;

hfaulds

import java.awt.Dimension;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;

import javax.media.opengl.GL;
import javax.media.opengl.GL2;
import javax.media.opengl.GLAutoDrawable;
import javax.media.opengl.GLCapabilities;
import javax.media.opengl.GLEventListener;
import javax.media.opengl.GLProfile;

hfaulds

PointCloud::ConstPtr alignedPointClouds()
{
  PointCloud clouds_merged = *filterCloudByDepth(clouds[0]).get();

  for(int i=1; i < NUM_CAPTURES; i++) {
    if(clouds[i]) {
      pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB> icp;
      icp.setMaxCorrespondenceDistance (0.5);
      icp.setTransformationEpsilon (1e-5);
      //icp.setEuclideanFitnessEpsilon (1);

hfaulds

#include <boost/thread/thread.hpp>
#include <boost/make_shared.hpp>

#include <pcl/io/openni_grabber.h>

#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/image_viewer.h>

#include <pcl/console/print.h>

hfaulds

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <boost/lexical_cast.hpp>


typedef pcl::PointXYZ Point;
typedef pcl::PointCloud<Point> PointCloud;

void println(std::string output)

hfaulds

#include <boost/thread/thread.hpp>
#include <boost/make_shared.hpp>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/image_viewer.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/common/transforms.h>

hfaulds

#include <boost/thread/thread.hpp>
#include <boost/make_shared.hpp>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/image_viewer.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/common/transforms.h>

hfaulds

#define MEASURE_FUNCTION_TIME
#include <boost/thread/thread.hpp>
#include <boost/make_shared.hpp>
#include <pcl/common/time.h> //fps calculations
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/image_viewer.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>

hfaulds

 public void render(final GL2 gl) {
    ArrayUtils.map(elements, new MapFunction<OctNode>(){
        public void map(OctNode input) {
          input.render(gl);
        }
      }
    );
  }

public class ArrayUtils{

hfaulds

public abstract class OctNode implements Collidable, Animated, GLRenderable {

  protected final OctSpace space;

  public OctNode(OctSpace space) {
    this.space = space;
  }

  public OctSpace getSpace() {
    return space;