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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);
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#ifndef __APPLE__
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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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    // 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::PointXYZRGBNormal>();
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    updateCalibrationParameters();
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    updateCalibrationParameters();