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    QSettings settings;
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    QSettings settings;
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    QVariant calibrationVariant = settings.value("calibration/parameters");
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    QVariant calibrationVariant = settings.value("calibration/parameters");
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    SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();
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    SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();
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    // camera 0 coordinate system
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    // camera 0 coordinate system
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    //visualizer->removeCoordinateSystem("camera0", 0);
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    visualizer->removeCoordinateSystem("camera0", 0);
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    visualizer->addCoordinateSystem(100, "camera0", 0);
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    visualizer->addCoordinateSystem(100, "camera0", 0);
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    // camera 1 coordinate system
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    // camera 1 coordinate system
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    cv::Mat Transform1CV(3, 4, CV_32F);
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    cv::Mat Transform1CV(3, 4, CV_32F);
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    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
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    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
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    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
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    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
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    Eigen::Affine3f Transform1;
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    Eigen::Affine3f Transform1;
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    cv::cv2eigen(Transform1CV, Transform1.matrix());
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    cv::cv2eigen(Transform1CV, Transform1.matrix());
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    //visualizer->removeCoordinateSystem("camera1", 0);
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    visualizer->removeCoordinateSystem("camera1", 0);
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    visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);
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    visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);
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//    // rotation axis coordinate system
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//    // rotation axis coordinate system
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//    cv::Mat TransformRCV(3, 4, CV_32F);
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//    cv::Mat TransformRCV(3, 4, CV_32F);
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//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));
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//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));