#include <autoware_utils_pcl/managed_transform_buffer.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <rclcpp/rclcpp.hpp>

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("transform_node");

  // Initialize ManagedTransformBuffer
  autoware_utils::ManagedTransformBuffer transform_buffer(node, false);

  // Load point cloud data
  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
  sensor_msgs::msg::PointCloud2 cloud_out;

  // Transform point cloud from "base_link" to "map" frame
  if (transform_buffer.transform_pointcloud("map", cloud_in, cloud_out)) {
    RCLCPP_INFO(node->get_logger(), "Point cloud transformed successfully.");
  } else {
    RCLCPP_ERROR(node->get_logger(), "Failed to transform point cloud.");
  }

  rclcpp::shutdown();
  return 0;
}

#include <autoware_utils_pcl/pcl_conversion.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <Eigen/Core>
#include <rclcpp/rclcpp.hpp>

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("pcl_conversion_node");

  // Load point cloud data
  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
  pcl::PointCloud<pcl::PointXYZ> pcl_cloud;

  // Define transformation matrix
  Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
  // Populate transform matrix with actual values

  // Convert and transform point cloud
  autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);

  rclcpp::shutdown();
  return 0;
}