vdb2pc.hpp

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

// PCL
#include <pcl_ros/transforms.h>
// OpenVDB
#include <openvdb/openvdb.h>
// STL
#include <iostream>

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;
};

} // end namespace