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void SMPointCloudWidget::updateCalibrationParameters(){
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void SMPointCloudWidget::updateCalibrationParameters(){
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    QSettings settings;
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    QSettings settings;
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    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    // camear 0 coordinate system
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    // camera 0 coordinate system
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    visualizer->removeCoordinateSystem();
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    visualizer->removeCoordinateSystem(0);
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    visualizer->addCoordinateSystem(100, 0);
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    visualizer->addCoordinateSystem(100, 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->addCoordinateSystem(100, Transform1.inverse());
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    //visualizer->addCoordinateSystem(100, Transform1.inverse());
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    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
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    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
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    cv::Vec3f O(0.0, 0.0, 0.0);
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    cv::Vec3f O(0.0, 0.0, 0.0);
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    cv::Vec3f v(0.0, 1.0, 0.0);
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    cv::Vec3f v(0.0, 1.0, 0.0);
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