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='PointcloudcloudCheckAnnotator', descriptor=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.

Threshold parameters:

Variables:

point_threshold – Minimum required points, defaults to 100

Status parameters:

Variables:

  • status_below_threshold – Status when below threshold, defaults to FAILURE

  • status_above_threshold – Status when above threshold, defaults to SUCCESS

Error handling:

Variables:

raise_on_failure – Whether to raise exception on failure, defaults to True

point_threshold = 100
status_below_threshold
status_above_threshold
raise_on_failure = True
parameters
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

Returns:

Configured status based on point count

Return type:

py_trees.Status

Raises:

Exception – If point count fails threshold and raise_on_failure is True