diff --git a/core/src/manual_pose_graph_loop_closure.cpp b/core/src/manual_pose_graph_loop_closure.cpp
index 9c8555ef..84585047 100644
--- a/core/src/manual_pose_graph_loop_closure.cpp
+++ b/core/src/manual_pose_graph_loop_closure.cpp
@@ -424,8 +424,22 @@ void ManualPoseGraphLoopClosure::Render(
         {
             if (i >= 0 && i < point_clouds_container.point_clouds.size() && point_clouds_container.point_clouds.size() > 0)
             {
-                ObservationPicking observation_picking;
-                point_clouds_container.point_clouds.at(i).render(false, observation_picking, 1, 1, false, false, false, 10000, false);
+                // ObservationPicking observation_picking;
+                // point_clouds_container.point_clouds.at(i).render(false, observation_picking, 1, 1, false, false, false, 10000, false);
+                Eigen::Affine3d m_src = point_clouds_container.point_clouds.at(i).m_pose;
+
+                if (render_source_as_red_target_as_blue)
+                {
+                    float color[3];
+                    color[0] = 1.0;
+                    color[1] = 0.0;
+                    color[2] = 0.0;
+                    point_clouds_container.point_clouds.at(i).render(m_src, 1, 1, color);
+                }
+                else
+                {
+                    point_clouds_container.point_clouds.at(i).render(m_src, 1, 1, point_clouds_container.point_clouds.at(i).render_color);
+                }
             }
         }
 
@@ -433,8 +447,22 @@ void ManualPoseGraphLoopClosure::Render(
         {
             if (i >= 0 && i < point_clouds_container.point_clouds.size() && point_clouds_container.point_clouds.size() > 0)
             {
-                ObservationPicking observation_picking;
-                point_clouds_container.point_clouds.at(i).render(false, observation_picking, 1, 1, false, false, false, 10000, false);
+                // ObservationPicking observation_picking;
+                // point_clouds_container.point_clouds.at(i).render(false, observation_picking, 1, 1, false, false, false, 10000, false);
+                Eigen::Affine3d m_src = point_clouds_container.point_clouds.at(i).m_pose;
+
+                if (render_source_as_red_target_as_blue)
+                {
+                    float color[3];
+                    color[0] = 0.0;
+                    color[1] = 0.0;
+                    color[2] = 1.0;
+                    point_clouds_container.point_clouds.at(i).render(m_src, 1, 1, color);
+                }
+                else
+                {
+                    point_clouds_container.point_clouds.at(i).render(m_src, 1, 1, point_clouds_container.point_clouds.at(i).render_color);
+                }
             }
         }
     }