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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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}
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void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
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void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
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    lineCoefficients.values[4] = v[1];
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    lineCoefficients.values[4] = v[1];
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    lineCoefficients.values[5] = v[2];
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    lineCoefficients.values[5] = v[2];
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    visualizer->removeShape("line");
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    visualizer->removeShape("line");
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    visualizer->addLine(lineCoefficients);
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    visualizer->addLine(lineCoefficients);
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    this->update();
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    //this->update();
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    visualizer->spin();
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}
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}
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SMPointCloudWidget::~SMPointCloudWidget(){
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SMPointCloudWidget::~SMPointCloudWidget(){
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    //delete visualizer;
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    //delete visualizer;