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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *
 * $Id: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $
 *
 */

// ROS core
#include <ros/ros.h>

#include <sensor_msgs/PointCloud2.h>

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_eigen/tf2_eigen.h>

// PCL includes
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <pcl_conversions/pcl_conversions.h>

#include <Eigen/Geometry>

// STL
#include <string>

/**
\author Radu Bogdan Rusu

@b pointcloud_to_pcd is a simple node that retrieves a ROS point cloud message and saves it to disk into a PCD (Point
Cloud Data) file format.

**/
class PointCloudToPCD
{
protected:
  ros::NodeHandle nh_;

private:
  std::string prefix_;
  bool binary_;
  bool compressed_;
  std::string fixed_frame_;
  tf2_ros::Buffer tf_buffer_;
  tf2_ros::TransformListener tf_listener_;

public:
  std::string cloud_topic_;

  ros::Subscriber sub_;

  ////////////////////////////////////////////////////////////////////////////////
  // Callback
  void
  cloud_cb(const boost::shared_ptr<const pcl::PCLPointCloud2> & cloud)
  {
    if ((cloud->width * cloud->height) == 0) {
      return;
    }

    ROS_INFO(
      "Received %d data points in frame %s with the following fields: %s",
      (int)cloud->width * cloud->height,
      cloud->header.frame_id.c_str(),
      pcl::getFieldsList(*cloud).c_str());

    Eigen::Vector4f v = Eigen::Vector4f::Zero();
    Eigen::Quaternionf q = Eigen::Quaternionf::Identity();
    if (!fixed_frame_.empty()) {
      if (!tf_buffer_.canTransform(
          fixed_frame_, cloud->header.frame_id,
          pcl_conversions::fromPCL(cloud->header.stamp), ros::Duration(3.0)))
      {
        ROS_WARN("Could not get transform!");
        return;
      }

      Eigen::Affine3d transform;
      transform =
        tf2::transformToEigen(
        tf_buffer_.lookupTransform(
          fixed_frame_, cloud->header.frame_id,
          pcl_conversions::fromPCL(cloud->header.stamp)));
      v = Eigen::Vector4f::Zero();
      v.head<3>() = transform.translation().cast<float>();
      q = transform.rotation().cast<float>();
    }

    std::stringstream ss;
    ss << prefix_ << cloud->header.stamp << ".pcd";
    ROS_INFO("Data saved to %s", ss.str().c_str());

    pcl::PCDWriter writer;
    if (binary_) {
      if (compressed_) {
        writer.writeBinaryCompressed(ss.str(), *cloud, v, q);
      } else {
        writer.writeBinary(ss.str(), *cloud, v, q);
      }
    } else {
      writer.writeASCII(ss.str(), *cloud, v, q, 8);
    }
  }

  ////////////////////////////////////////////////////////////////////////////////
  PointCloudToPCD()
  : binary_(false), compressed_(false), tf_listener_(tf_buffer_)
  {
    // Check if a prefix parameter is defined for output file names.
    ros::NodeHandle priv_nh("~");
    if (priv_nh.getParam("prefix", prefix_)) {
      ROS_INFO_STREAM("PCD file prefix is: " << prefix_);
    } else if (nh_.getParam("prefix", prefix_)) {
      ROS_WARN_STREAM(
        "Non-private PCD prefix parameter is DEPRECATED: " <<
          prefix_);
    }

    priv_nh.getParam("fixed_frame", fixed_frame_);
    priv_nh.getParam("binary", binary_);
    priv_nh.getParam("compressed", compressed_);
    if (binary_) {
      if (compressed_) {
        ROS_INFO_STREAM("Saving as binary compressed PCD");
      } else {
        ROS_INFO_STREAM("Saving as binary PCD");
      }
    } else {
      ROS_INFO_STREAM("Saving as binary PCD");
    }

    cloud_topic_ = "input";

    sub_ = nh_.subscribe(cloud_topic_, 1, &PointCloudToPCD::cloud_cb, this);
    ROS_INFO(
      "Listening for incoming data on topic %s",
      nh_.resolveName(cloud_topic_).c_str());
  }
};

/* ---[ */
int
main(int argc, char ** argv)
{
  ros::init(argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName);

  PointCloudToPCD b;
  ros::spin();

  return 0;
}
/* ]--- */