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 *     from this software without specific prior written permission.
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 * $Id: voxel_grid.cpp 1032 2011-05-18 22:43:27Z marton $
 *
 */

#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

float       default_leaf_size = 0.01f;
std::string default_field ("z");
double      default_filter_min = -std::numeric_limits<double>::max ();
double      default_filter_max = std::numeric_limits<double>::max ();

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
  print_info ("  where options are:\n");
  print_info ("                     -leaf x,y,z   = the VoxelGrid leaf size (default: "); 
  print_value ("%f, %f, %f", default_leaf_size, default_leaf_size, default_leaf_size); print_info (")\n");
  print_info ("                     -field X      = filter data along this field name (default: "); 
  print_value ("%s", default_field.c_str ()); print_info (")\n");
  print_info ("                     -fmin  X      = filter all data with values along the specified field smaller than this value (default: "); 
  print_value ("-inf"); print_info (")\n");
  print_info ("                     -fmax  X      = filter all data with values along the specified field larger than this value (default: "); 
  print_value ("inf"); print_info (")\n");
}

bool
loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
{
  TicToc tt;
  print_highlight ("Loading "); print_value ("%s ", filename.c_str ());

  tt.tic ();
  if (loadPCDFile (filename, cloud) < 0)
    return (false);
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
  print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());

  return (true);
}

void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
         float leaf_x, float leaf_y, float leaf_z, const std::string &field, double fmin, double fmax)
{
  TicToc tt;
  tt.tic ();
  
  print_highlight ("Computing ");

  VoxelGrid<sensor_msgs::PointCloud2> grid;
  grid.setInputCloud (input);
  grid.setFilterFieldName (field);
  grid.setFilterLimits (fmin, fmax);
  grid.setLeafSize (leaf_x, leaf_y, leaf_z);
  grid.filter (output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}

void
saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &output)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
  
  pcl::io::savePCDFile (filename, output);
  
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Downsample a cloud using pcl::VoxelGrid. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> p_file_indices;
  p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (p_file_indices.size () != 2)
  {
    print_error ("Need one input PCD file and one output PCD file to continue.\n");
    return (-1);
  }

  // Command line parsing
  float leaf_x = default_leaf_size,
        leaf_y = default_leaf_size,
        leaf_z = default_leaf_size;

  std::vector<double> values;
  parse_x_arguments (argc, argv, "-leaf", values);
  if (values.size () == 1)
  {
    leaf_x = static_cast<float> (values[0]);
    leaf_y = static_cast<float> (values[0]);
    leaf_z = static_cast<float> (values[0]);
  }
  else if (values.size () == 3)
  {
    leaf_x = static_cast<float> (values[0]);
    leaf_y = static_cast<float> (values[1]);
    leaf_z = static_cast<float> (values[2]);
  }
  else
  {
    print_error ("Leaf size must be specified with either 1 or 3 numbers (%zu given). ", values.size ());
  }
  print_info ("Using a leaf size of: "); print_value ("%f, %f, %f\n", leaf_x, leaf_y, leaf_z);

  std::string field (default_field);
  parse_argument (argc, argv, "-field", field);
  double fmin = default_filter_min,
         fmax = default_filter_max;
  parse_argument (argc, argv, "-fmin", fmin);
  parse_argument (argc, argv, "-fmax", fmax);
  print_info ("Filtering data on field: "); print_value ("%s", field.c_str ()); print_info (" between: "); 
  if (fmin == -std::numeric_limits<double>::max ())
    print_value ("-inf ->");
  else
    print_value ("%f ->", fmin);
  if (fmax == std::numeric_limits<double>::max ())
    print_value ("inf\n");
  else
    print_value ("%f\n", fmax);

  // Load the first file
  sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
  if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
    return (-1);

  // Apply the voxel grid
  sensor_msgs::PointCloud2 output;
  compute (cloud, output, leaf_x, leaf_y, leaf_z, field, fmin, fmax);

  // Save into the second file
  saveCloud (argv[p_file_indices[1]], output);
}

