robokudo.annotators.pointcloud_crop
===================================

.. py:module:: robokudo.annotators.pointcloud_crop

.. autoapi-nested-parse::

   Point cloud cropping and visualization.

   This module provides an annotator for:

   * Cropping point clouds using axis-aligned bounding boxes
   * Supporting both sensor and world coordinate frames
   * Generating and visualizing point cloud masks
   * Combining masks with color images

   .. note::
      Cropping can be done in either sensor coordinates (default) or world coordinates.



Classes
-------

.. autoapisummary::

   robokudo.annotators.pointcloud_crop.PointcloudCropAnnotator


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

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

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


   Point cloud cropping using axis-aligned bounding boxes.

   Crop a subset of points from a pointcloud data based on min/max X,Y,Z values.
   The crop is either done in sensor coordinates (default) or relative to the world frame.

   .. warning::
      When using world coordinates, requires valid camera-to-world transform in CAS.


   .. py:class:: Descriptor

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


      Configuration descriptor for point cloud cropping.


      .. py:class:: Parameters

         Parameters for configuring point cloud cropping.

         Bounding box parameters:

         :ivar min_x: Minimum X coordinate, defaults to -2.0
         :type min_x: float
         :ivar min_y: Minimum Y coordinate, defaults to -2.0
         :type min_y: float
         :ivar min_z: Minimum Z coordinate, defaults to -9.0
         :type min_z: float
         :ivar max_x: Maximum X coordinate, defaults to 2.0
         :type max_x: float
         :ivar max_y: Maximum Y coordinate, defaults to 2.0
         :type max_y: float
         :ivar max_z: Maximum Z coordinate, defaults to 3.0
         :type max_z: float

         Coordinate frame:

         :ivar relative_to_world: Whether to crop in world coordinates, defaults to False
         :type relative_to_world: bool


         .. py:attribute:: min_x
            :value: -2.0



         .. py:attribute:: min_y
            :value: -2.0



         .. py:attribute:: min_z
            :value: -9.0



         .. py:attribute:: max_x
            :value: 2.0



         .. py:attribute:: max_y
            :value: 2.0



         .. py:attribute:: max_z
            :value: 3.0



         .. py:attribute:: relative_to_world
            :value: False




      .. py:attribute:: parameters



   .. py:attribute:: color
      :value: None



   .. py:method:: update()

      Process and crop point cloud data.

      The method:

      * Loads point cloud and camera data from CAS
      * Optionally transforms to world coordinates
      * Crops using axis-aligned bounding box
      * Generates visualization mask
      * Updates CAS with cropped cloud
      * Creates combined visualization

      :return: SUCCESS after processing
      :rtype: py_trees.Status
      :raises Exception: If world transform not found when needed