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 *     contributors may be used to endorse or promote products derived
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 * $Id: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $
 *
 */

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

using namespace std;

/**
\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_;

  public:
    string cloud_topic_;

    ros::Subscriber sub_;

    ////////////////////////////////////////////////////////////////////////////////
    // Callback
    void
      cloud_cb (const sensor_msgs::PointCloud2ConstPtr& 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 ());

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

      pcl::io::savePCDFile (ss.str (), *cloud, Eigen::Vector4f::Zero (),
                            Eigen::Quaternionf::Identity (), false);
    }

    ////////////////////////////////////////////////////////////////////////////////
    PointCloudToPCD ()
    {
      // 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_);
        }

      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);
}
/* ]--- */