Program Listing for File vdb2pc.hpp
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* Author: Steve Macenski (steven.macenski@simberobotics.com)
* Purpose: convert native vdb files to pointclouds
*********************************************************************/
#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_