Function main

visualization/test/test.cpp:6–93

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");
   }