/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of Willow Garage, Inc. 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 OWNER 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.
 *
 *
 */

#ifndef pcl_ROS_TRANSFORMS_H_
#define pcl_ROS_TRANSFORMS_H_

#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/transforms.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

namespace pcl_ros
{
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param cloud_in the input point cloud
    * \param cloud_out the input point cloud
    * \param transform a rigid transformation from tf
    * \note calls the Eigen version
    */
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in, 
                                  pcl::PointCloud <PointT> &cloud_out, 
                                  const tf::Transform &transform);

  /** \brief Transforms a point cloud in a given target TF frame using a TransformListener
    * \param target_frame the target TF frame the point cloud should be transformed to
    * \param cloud_in the input point cloud
    * \param cloud_out the input point cloud
    * \param tf_listener a TF listener object
    */
  template <typename PointT> bool 
  transformPointCloudWithNormals (const std::string &target_frame, 
                                  const pcl::PointCloud <PointT> &cloud_in, 
                                  pcl::PointCloud <PointT> &cloud_out, 
                                  const tf::TransformListener &tf_listener);

  /** \brief Transforms a point cloud in a given target TF frame using a TransformListener
    * \param target_frame the target TF frame the point cloud should be transformed to
    * \param target_time the target timestamp
    * \param cloud_in the input point cloud
    * \param fixed_frame fixed TF frame
    * \param cloud_out the input point cloud
    * \param tf_listener a TF listener object
    */
   template <typename PointT> bool 
   transformPointCloudWithNormals (const std::string &target_frame, 
                                   const ros::Time & target_time, 
                                   const pcl::PointCloud <PointT> &cloud_in, 
                                   const std::string &fixed_frame, 
                                   pcl::PointCloud <PointT> &cloud_out, 
                                   const tf::TransformListener &tf_listener);

  /** \brief Apply a rigid transform defined by a 3D offset and a quaternion
    * \param cloud_in the input point cloud
    * \param cloud_out the input point cloud
    * \param transform a rigid transformation from tf
    * \note calls the Eigen version
    */
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud <PointT> &cloud_in, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::Transform &transform);

  /** \brief Transforms a point cloud in a given target TF frame using a TransformListener
    * \param target_frame the target TF frame the point cloud should be transformed to
    * \param cloud_in the input point cloud
    * \param cloud_out the input point cloud
    * \param tf_listener a TF listener object
    */
  template <typename PointT> bool 
  transformPointCloud (const std::string &target_frame, 
                       const pcl::PointCloud <PointT> &cloud_in, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::TransformListener &tf_listener);

  /** \brief Transforms a point cloud in a given target TF frame using a TransformListener
    * \param target_frame the target TF frame the point cloud should be transformed to
    * \param target_time the target timestamp
    * \param cloud_in the input point cloud
    * \param fixed_frame fixed TF frame
    * \param cloud_out the input point cloud
    * \param tf_listener a TF listener object
    */
  template <typename PointT> bool 
  transformPointCloud (const std::string &target_frame, const ros::Time & target_time, 
                       const pcl::PointCloud <PointT> &cloud_in, 
                       const std::string &fixed_frame, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::TransformListener &tf_listener);

  /** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
    * \param target_frame the target TF frame
    * \param in the input PointCloud2 dataset
    * \param out the resultant transformed PointCloud2 dataset
    * \param tf_listener a TF listener object
    */
  bool 
  transformPointCloud (const std::string &target_frame, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out, 
                       const tf::TransformListener &tf_listener);

  /** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
    * \param target_frame the target TF frame
    * \param net_transform the TF transformer object
    * \param in the input PointCloud2 dataset
    * \param out the resultant transformed PointCloud2 dataset
    */
  void 
  transformPointCloud (const std::string &target_frame, 
                       const tf::Transform &net_transform, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out);

  /** \brief Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.
    * \param transform the transformation to use on the points
    * \param in the input PointCloud2 dataset
    * \param out the resultant transformed PointCloud2 dataset
    */
  void 
  transformPointCloud (const Eigen::Matrix4f &transform, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out);

  /** \brief Obtain the transformation matrix from TF into an Eigen form
    * \param bt the TF transformation
    * \param out_mat the Eigen transformation
    */
  void 
  transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat);
}

#endif // PCL_ROS_TRANSFORMS_H_