robokudo.annotators.pointcloud_crop_map
=======================================

.. py:module:: robokudo.annotators.pointcloud_crop_map

.. autoapi-nested-parse::

   Point cloud cropping in world coordinates.

   This module provides an annotator for:

   * Cropping point clouds in world coordinate frame
   * Handling camera-to-world transformations
   * Supporting consistent spatial segmentation
   * Transforming results back to camera frame

   .. warning::
      This annotator is deprecated. Use pointcloud_crop with relative_to_world=True instead.



Classes
-------

.. autoapisummary::

   robokudo.annotators.pointcloud_crop_map.PointcloudCropMapAnnotator


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

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

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


   Point cloud cropping in world coordinates.

   This annotator:

   * Transforms point cloud to world frame
   * Crops using axis-aligned bounding box
   * Transforms cropped cloud back to camera frame
   * Segments consistent world regions

   .. warning::
      Deprecated: Use pointcloud_crop with relative_to_world=True instead.


   .. py:class:: Descriptor

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


      Configuration descriptor for world-frame point cloud cropping.


      .. py:class:: Parameters

         Parameters for configuring world-frame cropping.

         Bounding box parameters in world coordinates:

         :ivar min_x: Minimum X coordinate, defaults to -1.5
         :type min_x: float
         :ivar min_y: Minimum Y coordinate, defaults to 0.0
         :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 1.0
         :type max_x: float
         :ivar max_y: Maximum Y coordinate, defaults to 4.0
         :type max_y: float
         :ivar max_z: Maximum Z coordinate, defaults to 3.0
         :type max_z: float


         .. py:attribute:: min_x
            :value: -1.5



         .. py:attribute:: min_y
            :value: -0.0



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



         .. py:attribute:: max_x
            :value: 1.0



         .. py:attribute:: max_y
            :value: 4.0



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




      .. py:attribute:: parameters



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



   .. py:method:: update()

      Process and crop point cloud in world coordinates.

      The method:

      * Gets camera-to-world transform from CAS
      * Transforms point cloud to world frame
      * Crops using axis-aligned bounding box
      * Transforms cropped cloud back to camera frame
      * Updates CAS with cropped cloud

      :return: SUCCESS after processing, FAILURE if transform not found
      :rtype: py_trees.Status