#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>

using Point = pcl::PointXYZRGB;

int 
 main (int argc, char **argv)
{
 if (argc < 2)
 {
 std::cerr << "Needs a PCD file as input." << std::endl;
 return (-1);
 }

 srand (time (0));

 pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);

 pcl::PCDReader pcd;
 if (pcd.read (argv[1], *cloud) == -1)
 return (-1);

 pcl::visualization::PCLVisualizer p ("test");
 p.setBackgroundColor (1, 1, 1);

 // Handler random color demo
 {
 std::cerr << "PointCloudColorHandlerRandom demo." << std::endl;
 pcl::visualization::PointCloudColorHandlerRandom<Point> handler (cloud);
 
 p.addPointCloud<Point> (cloud, "cloud_random"); // no need to add the handler, we use a random handler by default
 p.spin ();
 p.removePointCloud ("cloud_random");

 p.addPointCloud (cloud, handler, "cloud_random");
 p.spin ();
 p.removePointCloud ("cloud_random");
 }

 // Handler custom demo
 {
 std::cerr << "PointCloudColorHandlerCustom demo." << std::endl;
 pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 255, 0, 0);
 
 p.addPointCloud (cloud, handler); // the default id is "cloud"
 p.spin ();
 p.removePointCloud (); // the default id is "cloud"

 handler = pcl::visualization::PointCloudColorHandlerCustom<Point> (cloud, 255, 0, 0);
 p.addPointCloud (cloud, handler, "cloud");
 p.spin ();
 p.removePointCloud ("cloud");
 }

 // Handler RGB demo
 {
 std::cerr << "PointCloudColorHandlerRGBField demo." << std::endl;
 pcl::visualization::PointCloudColorHandlerRGBField<Point> handler (cloud);

 p.addPointCloud (cloud, handler, "cloud_rgb");
 p.spin ();
 p.removePointCloud ("cloud_rgb");
 }
 
 // Handler generic field demo
 {
 std::cerr << "PointCloudColorHandlerGenericField demo." << std::endl;
 pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_z (cloud, "z");
 pcl::visualization::PointCloudColorHandlerGenericField<Point> handler_x (cloud, "x");
 
 p.addPointCloud (cloud, handler_x, "cloud_x");
 p.spin ();
 p.removePointCloud ("cloud_x");
 
 p.addPointCloud (cloud, handler_z, "cloud_z");
 p.spin ();
 p.removePointCloud ("cloud_z");
 }

 p.addCoordinateSystem (0.1);
 
 // Demonstrate usage of spinOnce()
 p.resetStoppedFlag();
 while (!p.wasStopped())
 {
 static int counter = 0;
 std::cout << "spinOnce was called "<<++counter<<" times.\n";
 p.spinOnce(1000); // Give the GUI 1000ms to handle events, then return
 }

 //p.removePointCloud ("cloud");
 //p.spin ();
}