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//    std::string stringId = QString("id%1").arg(id).toStdString();
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//    std::string stringId = QString("id%1").arg(id).toStdString();
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    // Note: using the color handler makes a copy of the rgb fields
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    // Note: using the color handler makes a copy of the rgb fields
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    colorHandler->setInputCloud(pointCloud.pointCloud);
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    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
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    visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
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    visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
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     }
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    // transformation matrix in Eigen format
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    // transformation matrix in Eigen format
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    cv::Mat TransformCV(3, 4, CV_32F);
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    cv::Mat TransformCV(3, 4, CV_32F);
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    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
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    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
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    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
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    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
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    Eigen::Affine3f Transform;
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    Eigen::Affine3f Transform;
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    cv::cv2eigen(TransformCV, Transform.matrix());
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    cv::cv2eigen(TransformCV, Transform.matrix());
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    //visualizer->updatePointCloudPose(stringId, Transform.inverse());
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    visualizer->updatePointCloudPose(stringId, Transform.inverse());
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    this->update();
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    this->update();
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    emit pointCloudDataChanged();
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    emit pointCloudDataChanged();
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}
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}