concepts.hw_interface.george_vision.object_centric_vision.filter_pointcloud_range

filter_pointcloud_range(pcd, x_range=None, y_range=None, z_range=None, return_condition=False)

Filter a point cloud by a range of x, y, z coordinates.

Parameters:

• pcd (PointCloud) – an open3d point cloud.

• x_range (Tuple[float, float] | None) – a tuple of (min, max) x coordinates.

• y_range (Tuple[float, float] | None) – a tuple of (min, max) y coordinates.

• z_range (Tuple[float, float] | None) – a tuple of (min, max) z coordinates.

• return_condition (bool) – whether to return the condition used to filter the point cloud.

Returns:

an open3d point cloud or a numpy array of shape (N,) representing the condition.

Return type:

ndarray | PointCloud