vdb2pc

A package providing the tools to transform OpenVDB grids into PCL point clouds. It also provides a ROS-based utility to publish OpenVDB grids as sensors_msgs/msg/PointCloud2, which can be used for visualization and debugging purposes.

Building

Place the package in the remap_ws/src; then, from remap_ws

$ rosdep init

$ rosdep update

$ rosdep install --from-paths src/vdb2pc

$ colcon build --packages-select vdb2pc

Content

• include/vdb2pc/vdb2pc.hpp: tools for transforming OpenVDB grids into point clouds.
• include/vdb2pc/vdb2pc_publisher.hpp: here the VDB2PCPublisher class is defined, that is, a wrapper around a ROS 2 sensor_msgs/msg/PointCloud2 Publisher to make it transparent to publish an OpenVDB grid.