Static Point clouds

Adapter Type: "static-pointcloud"

The static pointcloud adapter is used to load pointcloud .obj files pointed at with the "filepath" field. It is able to load point clouds with and without colour information.

Setting	Type	Description	Default
`filepath`	string	The path of the file containing pointcloud information. Required.
`frame`	string	The ID of the frame which the points are in. Required.
`updateMethod`	string	The update method defines when points will be inserted from the pointcloud. It can be either `"periodic"` or `"onchange"` - `"periodic"` will trigger an update at a specified interval - `"onchange"` will monitor the referenced file and trigger an update on any changes. This method is useful for situations where a SLAM map is constantly being built and saved to disk by a SLAM algorithm.	`"periodic"`
`updateInterval`	string	When `updateMethod` is set to `periodic`, this defines the interval for updates. The interval must be specified as a human-readable interval, e.g. "100ms" or "0.1s".	`"1s"`
`renameFileOnRead`	bool	This is a boolean which adds additional file handling behaviour to minimise collisions with file events. When enabled, the agent will rename the file by adding a `.copy` postfix before reading the file into memory. When complete the agent will check to see if a new file has been created with the original name while it has been busy. If so it will discard the `.copy` version. If no new file has been created it will undo the rename procedure by removing the `.copy` tag. This parameter is only relevant when `updateMethod` is set to `onchange`.	`false`
`sampleMethod`	string	The sampling method describes how points will be inserted from the pointcloud. It can be either `"all"` or `"random"`. - `"all"` will insert all loaded points in every update. Careful consideration should be given to the size of the pointcloud file when using this method. - `"random"` will sample a predetermined number of random points from the loaded pointcloud file. This method is useful for repeatably visualising a static pointcloud within the Robot Automation Portal operations view.	`"random"`
`sampleSize`	number	When using the random `"sampleMethod"`, this setting defines the number of points that will be randomly sampled per update.	`1000`

The adapter also accepts the output settings.

Example

"uniqueAdapterName": {
  "enabled": true,
  "type": "static-pointcloud",
  "settings": {
    "filepath": "pointclouds/carpark.obj",
    "frame": "map",
    "renameFileOnRead": true,
    "sampleMethod": "all",
    "updateMethod": "periodic",
    "updateInterval": "2000ms",
    "sampleSize": 5000
  }
}