`msight_core.nodes.source_local_pointcloud_player`

`LocalPointCloudPlayerSourceNode`

Bases: SourceNode

Replay point-cloud data previously dumped to disk.

Expected directory layout (output of :class:PointCloudLocalDumperSinkNode)::

root/
    <sensor_A>/          ← one immediate sub-folder per sensor
        <date>/<hour>/
            <timestamp>.pcd
    <sensor_B>/
        ...

Pass the folder that sits directly above the sensor-name folders as root (e.g. output_folder_path/<date>/<hour>/).

Multiple sensors are synchronized to the primary sensor: for each primary frame the closest frame from every other sensor (within 1 s) is queued and emitted in subsequent :meth:get_data calls, so replay appears smooth.

Parameters:

Name	Type	Description	Default
`configs`	`NodeConfig`	Node configuration.	required
`root`	`str`	Path to the folder containing per-sensor sub-folders.	required
`fps`	`float`	Target replay frame-rate. Default is 10 Hz.	`10.0`
`primary_sensor`	`str \| None`	Name of the sensor that drives timing. Defaults to the first sensor found alphabetically.	`None`
`loop`	`bool`	Whether to loop back to the beginning when the recording ends. Default is `True`.	`True`

`create(name, publish_topic_name, root, fps=10.0, primary_sensor=None, loop=True)` `classmethod`

Convenience factory that mirrors the pattern used by other nodes.

Parameters:

Name	Type	Description	Default
`name`	`str`	Node name.	required
`publish_topic_name`	`str`	Topic to publish point clouds to.	required
`root`	`str`	Folder directly above sensor sub-directories.	required
`fps`	`float`	Replay frame-rate in Hz. Default 10.	`10.0`
`primary_sensor`	`str \| None`	Primary sensor name. Defaults to first sensor alphabetically.	`None`
`loop`	`bool`	Loop when the recording ends. Default `True`.	`True`

msight_core.nodes.source_local_pointcloud_player