Program Listing for File vdb2pc.hpp

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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: convert native vdb files to pointclouds
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#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__VDB2PC_HPP_
#define SPATIO_TEMPORAL_VOXEL_LAYER__VDB2PC_HPP_

// STL
#include <string>
#include <iostream>
// PCL
#include "pcl/common/transforms.h"
// OpenVDB
#include "openvdb/openvdb.h"

namespace utilities
{

class VDB2PCLPointCloud
{
public:
  VDB2PCLPointCloud();
  void SetFile(const std::string & file_name);
  bool GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);

private:
  std::string _file_name;
};

}  // namespace utilities

#endif  // SPATIO_TEMPORAL_VOXEL_LAYER__VDB2PC_HPP_