23 #ifndef __FIREVISION_UTILS_ADAPTERS_PCL_H
24 #define __FIREVISION_UTILS_ADAPTERS_PCL_H
27 # include <pcl/point_cloud.h>
28 # include <pcl/point_types.h>
30 namespace firevision {
35 class SharedMemoryImageBuffer;
37 void convert_buffer_to_pcl(
const SharedMemoryImageBuffer *buffer,
38 pcl::PointCloud<pcl::PointXYZ> &pcl);
40 void convert_buffer_to_pcl(
const SharedMemoryImageBuffer *buffer,
41 pcl::PointCloud<pcl::PointXYZRGB> &pcl);
45 # error PCL not available, guard your include with HAVE_PCL