LoadPointCloudFromFile Class
Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port. More...
Declaration
Included Headers
Base class
| class | AsyncBehaviorBase |
|
A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More... | |
Public Constructors Index
| LoadPointCloudFromFile (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
Loads a point cloud from a file specified on a data port and then writes the point cloud to an output data port. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More... | |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port.
The scale, num_sampled_points, and random_seed variables are used only when reading an .stl file, since these parameters control sampling the point cloud from a mesh.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| package_name | input | std::string |
| file_path | input | std::string |
| frame_id | input | std::string |
| scale | input | float |
| num_sampled_points | input | size_t |
| random_seed | input | size_t |
| color | input | std::vector<uint8_t> |
| point_cloud | output | sensor_msgs::msg::PointCloud2 |
Definition at line 33 of file load_pointcloud_from_file.hpp.
Public Constructors
LoadPointCloudFromFile()
|
Declaration at line 36 of file load_pointcloud_from_file.hpp, definition at line 117 of file load_pointcloud_from_file.cpp.
Private Member Functions
doWork()
| virtual |
Loads a point cloud from a file specified on a data port and then writes the point cloud to an output data port.
- Returns
Returns true if the point cloud snapshot is captured successfully. Returns a failure result if the point cloud could not be successfully loaded.
Declaration at line 50 of file load_pointcloud_from_file.hpp, definition at line 146 of file load_pointcloud_from_file.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 53 of file load_pointcloud_from_file.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 59 of file load_pointcloud_from_file.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 41 of file load_pointcloud_from_file.hpp, definition at line 140 of file load_pointcloud_from_file.cpp.
providedPorts()
| static |
Declaration at line 39 of file load_pointcloud_from_file.hpp, definition at line 123 of file load_pointcloud_from_file.cpp.
The documentation for this class was generated from the following files:
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