text: // ----------------------------------------------------------------------------
  // -                        Open3D: www.open3d.org                            -
  // ----------------------------------------------------------------------------
  // The MIT License (MIT)
  //
  // Copyright (c) 2018 www.open3d.org
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  // IN THE SOFTWARE.
  // ----------------------------------------------------------------------------
  
  #include <Core/Core.h>
  #include <IO/IO.h>
  #include <Visualization/Visualization.h>
  
  int main(int argc, char **argv)
  {
  	using namespace three;
  	using namespace flann;
  
  	SetVerbosityLevel(VerbosityLevel::VerboseAlways);
  
  	if (argc < 2) {
  		PrintInfo("Usage:\n");
  		PrintInfo("    > TestFlann [filename] [ascii|binary|compressed]\n");
  		PrintInfo("    The program will :\n");
  		PrintInfo("    1. load the pointcloud in [filename].\n");
  		PrintInfo("    2. visualize the point cloud.\n");
  		PrintInfo("    3. if a save method is specified, write the point cloud into data.pcd.\n");
  		return 0;
  	}
  
  	auto cloud_ptr = CreatePointCloudFromFile(argv[1]);
  	DrawGeometries({cloud_ptr}, "TestPCDFileFormat", 1920, 1080);
  
  	if (argc >= 3) {
  		std::string method(argv[2]);
  		if (method == "ascii") {
  			WritePointCloud("data.pcd", *cloud_ptr, true);
  		} else if (method == "binary") {
  			WritePointCloud("data.pcd", *cloud_ptr, false, false);
  		} else if (method == "compressed") {
  			WritePointCloud("data.pcd", *cloud_ptr, false, true);
  		}
  	}
  
  	return 0;
  }
  