/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, 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.
 *
 * $Id: transform_from_viewpoint.cpp 4962 2012-03-08 00:19:55Z rusu $
 *
 */

#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/fpfh.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/common/transforms.h>

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

Eigen::Vector4f    translation;
Eigen::Quaternionf orientation;

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.pcd output.pcd\n", argv[0]);
}

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, translation, orientation) < 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", getFieldsList (cloud).c_str ());

  return (true);
}

void
transform (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output)
{
  // Check for 'normals'
  bool has_normals = false;
  for (size_t i = 0; i < input->fields.size (); ++i)
    if (input->fields[i].name == "normals")
      has_normals = true;

  // Estimate
  TicToc tt;
  tt.tic ();
  print_highlight (stderr, "Transforming ");

  // Convert data to PointCloud<T>
  if (has_normals)
  {
    PointCloud<PointNormal> xyznormals;
    fromROSMsg (*input, xyznormals);
    pcl::transformPointCloud<PointNormal> (xyznormals, xyznormals, translation.head<3> (), orientation);
    // Copy back the xyz and normals
    sensor_msgs::PointCloud2 output_xyznormals;
    toROSMsg (xyznormals, output_xyznormals);
    concatenateFields (*input, output_xyznormals, output);
  }
  else
  {
    PointCloud<PointXYZ> xyz;
    fromROSMsg (*input, xyz);
    pcl::transformPointCloud<PointXYZ> (xyz, xyz, translation.head<3> (), orientation);
    // Copy back the xyz and normals
    sensor_msgs::PointCloud2 output_xyz;
    toROSMsg (xyz, output_xyz);
    concatenateFields (*input, output_xyz, output);
  }

  translation = Eigen::Vector4f::Zero ();
  orientation = Eigen::Quaternionf::Identity ();

  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 ());
  
  PCDWriter writer;
  writer.writeBinaryCompressed (filename, output, translation, orientation);
  
  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 ("Take the input point cloud and transform it according to its stored VIEWPOINT information. For more information, use %s -h\n", argv[0]);
  bool help = false;
  parse_argument (argc, argv, "-h", help);
  if (argc < 3 || help)
  {
    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);
  }

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

  // Perform the feature estimation
  sensor_msgs::PointCloud2 output;
  transform (cloud, output);

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

