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    Q_OBJECT
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    Q_OBJECT
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    public:
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    public:
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        explicit SMPointCloudWidget(QWidget *parent = 0);
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        explicit SMPointCloudWidget(QWidget *parent = 0);
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        ~SMPointCloudWidget();
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        ~SMPointCloudWidget();
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    public slots:
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    public slots:
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        void addPointCloud(PointCloudPtr _pointCloudPCL);
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        void addPointCloud(PointCloudPtr _pointCloudPCL, int id);
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        void updatePointCloud(PointCloudPtr _pointCloudPCL);
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        void updatePointCloud(PointCloudPtr _pointCloudPCL, int id);
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        void savePointCloud();
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        void savePointCloud();
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        void saveScreenShot();
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        void saveScreenShot();
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        void updateCalibrationParameters();
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        void updateCalibrationParameters();
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    signals:
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    signals:
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        void newPointCloudDisplayed();
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        void newPointCloudDisplayed();