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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, 0);
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    visualizer->addCoordinateSystem(100, "camera0", 0);
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#ifndef __APPLE__
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#ifndef __APPLE__
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    // this leads to a segfault on OS X
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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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#endif
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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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    // camera 0 coordinate system
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    // camera 0 coordinate system
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    visualizer->removeCoordinateSystem(0);
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    visualizer->removeCoordinateSystem("camera0", 0);
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    visualizer->addCoordinateSystem(100, 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->addCoordinateSystem(100, Transform1.inverse());
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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));
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//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));
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//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));