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//void SMPointCloudWidget::savePointCloud(){

//    QString selectedFilter;

//    QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), "*.pcd;;*.ply;;*.vtk;;*.png;;*.txt", &selectedFilter);

//    QFileInfo info(fileName);

//    QString type = info.suffix();

//    if(type == ""){

//        fileName.append(selectedFilter.remove(0,1));

//        type = selectedFilter.remove(0,1);

//    }

//    if(type == "pcd"){

//        pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);

//    } else if(type == "ply"){

//        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);

//        pcl::PLYWriter w;

//        // Write to ply in binary without camera

//        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);

//    } else if(type == "vtk"){

//        pcl::PCLPointCloud2 pointCloud2;

//        pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);

//        pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);

////        vtkPolyData polyData;

////        pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);

////        vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();

////        writer->SetInput(polyData);

////        writer->SetFileName(fileName.toStdString());

////        writer->Update();

//    } else if(type == "png"){

//        pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");

//    } else if(type == "txt"){

//        std::ofstream s(fileName.toLocal8Bit());

//        for(unsigned int r=0; r<pointCloudPCL->height; r++){

//            for(unsigned int c=0; c<pointCloudPCL->width; c++){

//                pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);

//                if(p.x == p.x)

//                    s << p.x << " " << p.y << " " << p.z << "\r\n";

//            }

//        }

//        std::flush(s);

//        s.close();

//    }

//}