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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
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    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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    this->SetRenderWindow(visualizer->getRenderWindow());
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    this->SetRenderWindow(visualizer->getRenderWindow());
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    // Disable double buffering (which causes lag in VTK6)
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    visualizer->getRenderWindow()->SetDoubleBuffer(0);
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    visualizer->setShowFPS(false);
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    visualizer->setShowFPS(false);
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    // Create point cloud viewport
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    // Create point cloud viewport
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    visualizer->setBackgroundColor(0, 0, 0);
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    visualizer->setBackgroundColor(0, 0, 0);
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    visualizer->addCoordinateSystem(100, "camera0", 0);
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    visualizer->addCoordinateSystem(100, "camera0", 0);