Class LoadPlyState

• Defined in File load_ply_state.hpp

Inheritance Relationships

Base Type

• public yasmin::State

Class Documentation

class LoadPlyState : public yasmin::State

Loads a PLY file into pcl::PCLPointCloud2.

The file path is taken from the state-local parameter file_path. The loaded cloud is written to the blackboard key output_cloud. Additional metadata is written to sensor_origin and sensor_orientation.

Public Functions

LoadPlyState()

~LoadPlyState() override

virtual void configure() override

std::string execute(yasmin::Blackboard::SharedPtr blackboard) override