text: #ifndef POPUP_H
  #define POPUP_H
  
  #include <QDialog>
  
  // Point Cloud Library
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  #include <pcl/io/ply_io.h>
  #include <pcl/io/pcd_io.h>
  #ifndef Q_MOC_RUN
  #include <pcl/filters/filter.h>
  #endif
  #include <pcl/visualization/pcl_visualizer.h>
  #include <pcl/common/transforms.h>
  #include <pcl/common/centroid.h>
  
  #include <vtkRenderWindow.h>
  
  #include <iostream>
  
  typedef pcl::PointXYZ PointT;
  typedef pcl::PointXYZRGB PointC;
  typedef pcl::PointCloud<PointC> PointCloudC;
  typedef pcl::PointCloud<PointT> PointCloudT;
  
  namespace Ui {
  class PopUp;
  }
  
  class PopUp : public QDialog
  {
      Q_OBJECT
      
  public:
      explicit PopUp(QWidget *parent = 0);
      ~PopUp();
  
      void setCloud(PointCloudT::Ptr in, int id);
  
      void loadCloud();
  
      
  private:
      Ui::PopUp *ui;
  
  protected:
      boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer_;
      PointCloudC::Ptr cloud,scene;
  
  };
  
  #endif // POPUP_H
  