vdb2pc.cpp

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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
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#include <spatio_temporal_voxel_layer/vdb2pc.hpp>

namespace utilities
{

/*****************************************************************************/
VDB2PCLPointCloud::VDB2PCLPointCloud()
/*****************************************************************************/
{
  openvdb::initialize();
}

/*****************************************************************************/
void VDB2PCLPointCloud::SetFile(const std::string& file_name)
/*****************************************************************************/
{
  _file_name = file_name;
}

/*****************************************************************************/
bool VDB2PCLPointCloud::GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud)
/*****************************************************************************/
{
  openvdb::io::File file(_file_name);
  file.open();
  openvdb::GridBase::Ptr baseGrid;
  openvdb::DoubleGrid::Ptr grid;

  bool valid_grid = false;

  for (openvdb::io::File::NameIterator nameIter = file.beginName();
                                nameIter != file.endName(); ++nameIter)
  {
    if (nameIter.gridName() == "SpatioTemporalVoxelLayer")
    {
      baseGrid = file.readGrid(nameIter.gridName());
      grid = openvdb::gridPtrCast<openvdb::DoubleGrid>(baseGrid);
      valid_grid = true;
    }
  }

  if (!valid_grid)
  {
    std::cout << "No valid grid inside of provided file." << std::endl;
    return false;
  }

  //populate pcl pointcloud
  openvdb::DoubleGrid::ValueOnCIter cit_grid = grid->cbeginValueOn();
  for (cit_grid; cit_grid; ++cit_grid)
  {
    const openvdb::Vec3d pt = grid->indexToWorld(cit_grid.getCoord());
    cloud->push_back(pcl::PointXYZ(pt[0], pt[1], pt[2]));
  }

  return true;
}

} // end namespace