robokudo.annotators.pointcloud_check

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

PointcloudCheckAnnotator

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

Module Contents

class robokudo.annotators.pointcloud_check.PointcloudCheckAnnotator(name: str = 'PointcloudcloudCheckAnnotator', descriptor: PointcloudCheckAnnotator = Descriptor())

Bases: 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.

class Descriptor

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

Configuration descriptor for point cloud checking.

class Parameters

Parameters for configuring point cloud validation.

point_threshold: int = 100

Decision boundary for: if CASViews.CLOUD has less than this amount of points

status_below_threshold: py_trees.common.Status

Status when below threshold

status_above_threshold: py_trees.common.Status

Status when above threshold

raise_on_failure: bool = True

Whether to raise exception on failure

parameters
update() → py_trees.common.Status

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

Returns:

Configured status based on point count

Raises:

Exception – If point count fails threshold and raise_on_failure is True