boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
		viewer->setBackgroundColor(0, 0, 0);
		viewer->initCameraParameters();
		viewer->setPosition(100, 0);
		viewer->setSize(1250, 740);

		//Show clouds
		if (cloud_Left != NULL)
		{
			viewer->addPointCloud<pcl::PointXYZI>(cloud_Left, "cloud_Left");
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud_Left");
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 0.5, 0, "cloud_Left");
		}
		if (cloud_Right != NULL)
		{
			viewer->addPointCloud<pcl::PointXYZI>(cloud_Right, "cloud_Right");
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud_Right");
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0.5, 0, 0, "cloud_Right");
		}