robokudo.annotators.pointcloud_check
====================================

.. py:module:: robokudo.annotators.pointcloud_check

.. autoapi-nested-parse::

   Point cloud validation and threshold checking.

   This module provides an annotator for:

   * Validating point cloud size
   * Configurable threshold checking
   * Customizable status responses
   * Optional error raising

   The annotator supports:

   * Configurable point count threshold
   * Different status returns for above/below threshold
   * Optional exception raising on failure
   * Detailed logging of check results

   .. note::
      Point cloud must be available in CAS under CASViews.CLOUD.



Classes
-------

.. autoapisummary::

   robokudo.annotators.pointcloud_check.PointcloudCheckAnnotator


Module Contents
---------------

.. py:class:: PointcloudCheckAnnotator(name='PointcloudcloudCheckAnnotator', descriptor=Descriptor())

   Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator`


   Check if the CASViews.Cloud contains more than X points.

   .. warning::
      Will raise exception if point cloud not found in CAS.


   .. py:class:: Descriptor

      Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator.Descriptor`


      Configuration descriptor for point cloud checking.


      .. py:class:: Parameters

         Parameters for configuring point cloud validation.

         Threshold parameters:

         :ivar point_threshold: Minimum required points, defaults to 100
         :type point_threshold: int

         Status parameters:

         :ivar status_below_threshold: Status when below threshold, defaults to FAILURE
         :type status_below_threshold: py_trees.Status
         :ivar status_above_threshold: Status when above threshold, defaults to SUCCESS
         :type status_above_threshold: py_trees.Status

         Error handling:

         :ivar raise_on_failure: Whether to raise exception on failure, defaults to True
         :type raise_on_failure: bool


         .. py:attribute:: point_threshold
            :value: 100



         .. py:attribute:: status_below_threshold


         .. py:attribute:: status_above_threshold


         .. py:attribute:: raise_on_failure
            :value: True




      .. py:attribute:: parameters



   .. py:method:: update()

      Check point cloud size against threshold.

      The method:

      * Loads point cloud from CAS
      * Counts number of points
      * Compares against threshold:
        * Below: Returns status_below_threshold
        * Above: Returns status_above_threshold
      * Optionally raises exceptions on failure
      * Logs detailed check results

      :return: Configured status based on point count
      :rtype: py_trees.Status
      :raises Exception: If point count fails threshold and raise_on_failure is True