# -*- coding: utf-8 -*-
from __future__ import print_function

import numpy as np
import pcl

from pcl import pcl_visualization
# from pcl.pcl_registration import icp, gicp, icp_nl

#p = pcl.PointCloud()
#p.from_file("office.pcd")

cloud = pcl.load_XYZRGB('office.pcd')
visual = pcl.pcl_visualization.CloudViewing()

# PointXYZ
# visual.ShowMonochromeCloud(cloud)

# visual.ShowGrayCloud(cloud, b'cloud')
visual.ShowColorCloud(cloud, b'cloud')
# visual.ShowColorACloud(cloud, b'cloud')

# while True:
#     visual.WasStopped()
# end

flag = True
while flag:
    flag != visual.WasStopped()
end
