text: # BSD 3-Clause License
  
  # Copyright (c) 2021, The University of North Carolina at Chapel Hill
  # All rights reserved.
  
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  
  # 1. Redistributions of source code must retain the above copyright notice, this
  #    list of conditions and the following disclaimer.
  
  # 2. Redistributions in binary form must reproduce the above copyright notice,
  #    this list of conditions and the following disclaimer in the documentation
  #    and/or other materials provided with the distribution.
  
  # 3. Neither the name of the copyright holder nor the names of its
  #    contributors may be used to endorse or promote products derived from
  #    this software without specific prior written permission.
  
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #! @author Mengyu Fu
  
  import sys
  import open3d as o3d
  import copy
  
  colorBank = {
      "0": [1, 0.706, 0],
      "1": [0.3010, 0.7450, 0.9330],
      "2": [0.8500, 0.3250, 0.0980],
      "3": [0.4940, 0.1840, 0.5560],
      "4": [0.4660, 0.6740, 0.1880],
      "5": [0, 0.4470, 0.7410],
      "6": [0.6350, 0.0780, 0.1840],
      "7": [0.75, 0.75, 0],
      "8": [0.5, 0.5, 0.5],
      "size": 9
  }
  
  def draw_ptc(ptc):
      ptcs = []
  
      for i in range(len(ptc)):
          ptcTemp = copy.deepcopy(ptc[i])
          colorIdx = i % colorBank["size"]
          ptcTemp.paint_uniform_color(colorBank[str(colorIdx)])
          ptcs.append(ptcTemp)
  
      o3d.visualization.draw_geometries(ptcs)
  
  if __name__ == "__main__":
      if len(sys.argv) < 2:
          fileNames = ["../data/output/test_ptcloud.txt", "../data/input/image_points.txt"]
      else:
          fileNames = sys.argv[1:]
  
      ptcs = []
      for i in range(len(fileNames)):
          ptcFile = fileNames[i]
          ptc = o3d.io.read_point_cloud(ptcFile, format='xyz')
          print("Point cloud {}: ".format(i))
          print(ptc)
          ptcs.append(ptc)
  
      draw_ptc(ptcs)
  